Example: Setting The Filter For The Following Error (Speed Control Loop); Position Control Loop Measurement - Siemens SINUMERIK 840D sl Commissioning Manual

Drive tuning
10.5 Measuring functions (manual tuning)
10.5.3

Example: Setting the filter for the following error (speed control loop)

Requirement
The X axis is measured with the following settings:
● With feedrates in SD55822[0...5] $SCS_FRICT_OPT_FEED for step 1 ... 6 and
SD55822[6...8] $SCS_FRICT_OPT_FEED = 0 for step 7 ... 9
● Radius 8 mm in SD55820 $SCS_FRICT_OPT_RADIUS
Measuring the X axis
Procedure:
1. Select the dialog for the tuning via the "NC" and "Friction compensation" softkeys.
2. Select the X axis and press "Start".
3. Confirm the program editor by pressing "OK" without any further inputs. The X axis is not
measured with separate reversal points.
4. Enter a value for step 1 and change the parameters until you are satisfied with the
compensation.
5. Press "Next >" to change to the next step.
6. Repeat this process for all steps. Press "OK" to save the data.
Result
The following graphic shows the characteristic curves of the X axis for various radiuses:
10.5.4

Position control loop measurement

Function
The predefined processes for the position control loop are listed in the following table. The
position controller measurements are performed in the NC. The measurements support three
excitation variants: Position setpoint, speed setpoint, torque setpoint and torque feedforward
control. In cases with two configured measuring systems, the selection of the signal output
node supports encoder 1, encoder 2, and the active encoder.
324
Step 1 of 6: 1,000 mm/min
Step 2 of 6: 600 mm/min
Amplitude: 15.220 mm/min
Decay time: 0.038 s
Active time: 0.012 s
Amplitude: 10.750 mm/min
Decay time: 0.034 s
Active time: 0.016 s
Commissioning Manual, 12/2019, A5E48312804B AA
CNC Commissioning: NC, PLC, Drive