Siemens SINUMERIK 840D sl Commissioning Manual page 311

The following functions are deactivated if they are used:
● Axis:
MD32220 $MA_POSCTRL_INTEGR_ENABLE = 0
MD32610 $MA_VELO_FFW_WEIGHT = 1.0 (should always be 1)
MD32930 $MA_POSCTRL_OUT_FILTER_ENABLE = 0
● Drive:
If the Advanced Position Control (APC) function module is activated: p3700.0 = 0
Velocity control configuration: p1400.5 = 0
The speed controller adaptation is deactivated.
Speed controller integrator feedback time constant: p1494 = 0.0
Measure smoothed speed setpoint step to create a mechanical model:
At the start of the tuning, the load moment of inertia, the stiffness of the coupling and the
correctness of the current controller setting are unknown. A step response can be measured to
make a first estimate. As a consequence, while measuring the speed-controlled system, it is
easier to automatically determine parameters.
Measure speed-controlled system:
This measurement is required to tune the speed controller.
It is initially performed with the maximum bandwidth (e.g. 4000 Hz)
Measure speed-controlled system with reduced bandwidth:
This measurement is required to tune the speed controller.
This measurement is performed with reduced bandwidth in order to improve the frequency
resolution.
Measure speed control loop for speed controller-controlled system model:
This measurement is necessary if the position control loop (including feedforward control) is to
be automatically tuned, but the speed controller was not tuned with automatic servo tuning.
Tune speed controller:
The parameters for the speed controller (including current setpoint filter) are calculated an the
basis of the measured speed-controlled systems and the specified tuning objective. The
parameters are not transferred into the drive until the axis tuning has been completed, or a
measurement for checking has been performed. The "Speed" settings are applied.
Measure speed control loop for checking:
The closed speed controller is measured with the new parameters. To do this, the new
parameters are written to the drive.
Measure mechanical system:
Measure the transmission link between the motor encoder and direct encoder (e.g. linear
scale). This does not include any influence on the closed-loop control. Using this measurement,
the position control loop can be calculated with closed-loop control on the direct encoder.
Tune position controller: without parameters
Servo gain factor and feedforward control are tuned on the basis of the prior measurements.
The tuning objective is also applied. The "Position" settings are applied. If a second encoder is
setup, then the position control is always calculated as if this second encoder is used for the
position control.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
Drive tuning
10.3 Automatic servo tuning
311