Siemens SINUMERIK 840D sl Commissioning Manual page 258

NC commissioning
8.6 Adaptations
Function description
The "Intelligent dynamic response adjustment" function adjusts the control parameters for axes
with a stability that changes at different positions or at different traversing velocities as a
function of the position or velocity.
The following control parameters can be adapted:
● Servo gain factor (position controller gain)
● Torque feedforward control
● Drive adaptation factor 1 ... 4: A maximum of 4 drive variables from parameter p2782[0...3]
"Mode adaptation" can be adapted.
– Kp speed controller P gain adaptation speed
– Tn speed controller integral time adaptation speed
– Current setpoint filter 1 denominator and numerator
– Current setpoint filter 2 denominator and numerator
– Speed setpoint filter 1 denominator and numerator
– Speed controller reference model natural frequency and damping
– APC / APC ECO Tv (p3769)
– APC / APC ECO filter (p3766)
Constraints
Please note the following supplementary conditions:
● The associated input axis must be referenced for position-dependent adaptation.
● For the adaptation of the drive adaptation factors 1 ... 4, telegram (Page 220) 146, 148 or
149 is required.
● The "Controller parameter adaptation" function module (bit r0171.29) is activated.
● The following conditions apply to the adaptation of "APC / APC ECO Tv (p3769)" and "APC /
APC ECO filter (p3766)":
– A SINUMERIK license for the "Advanced Position Control" (6FC5800-0_M13-0YB0)
– A SINUMERIK license for the "Advanced Position Control ECO"
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option is required to use the "Advanced Position Control (APC)" function module (bit
r0108.7) with SINUMERIK.
(6FC5800-0_M12-0YB0) option is required to use the "Active Vibration Suppression
(AVS/APC-ECO)" function module (bit r0108.19) with SINUMERIK.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA