Siemens SINUMERIK 840D sl Commissioning Manual page 299

Example for "Position": Strategy 203
Figure 10-5
The value for reducing the servo gain factor and its upper limit depends on the selected tuning
objective.
● Reduce servo gain factor
The maximum servo gain factor is calculated from the automatic servo tuning; in the
process, no overshoot is allowed with the position controller. The maximum servo gain
factor is the value that does not result in any overshoot. The maximum servo gain factor can
be reduced to increase ruggedness against mechanical changes. A reserve of 40% is set
for the tuning objective "moderate responsiveness". Furthermore, the servo gain factor is
limited to 4 mm/min.
– Default setting = 0.6
– Min = 0.1
– Max = 1 (no reduction)
● Feedforward control mode: Torque feedforward control is recommended.
When telegram 136 is used, the torque feedforward control allows the highest contour
precision to be achieved.
Tuning objective
The default settings for speed and position controllers are adapted by selecting the tuning
objective.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
Strategy: Position control loop - example
Drive tuning
10.3 Automatic servo tuning
299