Siemens SINUMERIK 840D sl Commissioning Manual page 314

Drive tuning
10.4 Spindle optimization (automatic)
Optimization strategy
Different optimization strategies are used, depending on the operating range of the spindle:
● A robust setting is selected for speed controller and position controller for the spindle
operation and tapping. The optimization aggressiveness is reduced for the spindle and the
servo gain factor is limited to 3 [1000/min].
● In addition to the speed control mode, the position control mode is also optimized, e.g. for
SPOS: Servo gain factor maximum 3 [1000/min].
● The same optimization strategy that was selected for the path axes is selected for the axis
mode. If only one drive data set (DDS) is defined, this strategy will also be used for the other
modes. If the speed controller adaptation is also enabled in the drive, the speed controller
gain and the integral time are attenuated at higher speeds.
● For tapping, the spindle mode with gear stages and position control is used. The path
calibration with the relevant path axis is needed for tapping. Ensure that all gear stages used
during tapping are calibrated both in the spindle and along the path axis.
Optimization result
The optimized parameters are displayed in the "Controller data overview" dialog:
During tapping, the same values are set in the following machine data for the spindle and all
further axes:
MD32200 $MA_POSCTRL_GAIN
MD32800 $MA_EQUIV_CURRCTRL_TIME
MD32810 $MA_EQUIV_SPEEDCTRL_TIME Equivalent time constant speed control loop for feedfor‐
MD32900 $MA_DYN_MATCH_ENABLE
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Servo gain factor
Equivalent time constant current control loop for feed‐
forward control [s]
ward control [s]
Dynamic response adaptation
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA