Siemens SINUMERIK 840D sl Commissioning Manual page 328

Drive tuning
10.5 Measuring functions (manual tuning)
Solid line
Dashed line
Figure 10-6
With measuring type "Setpoint ramp", the following machine data influences the measurement
result:
● MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
The maximum axis velocity limits the ramp gradient (velocity limitation). The drive does not
reach the programmed end position (amplitude).
● MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
The maximum axis acceleration limits the velocity change (acceleration limitation).
Protection of the machine
In normal cases the machine data corresponds exactly with the load capacity of the machine
kinematics and should not be changed (increased) as part of the measurements:
● MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
● MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
Measurement parameters: Setpoint step and setpoint ramp
The transient and the positioning response of the position control in the time domain, and in
particular the effect of setpoint filters, can be assessed with the step and ramp excitation
functions.
Measurement parameters:
● Amplitude
Determines the amplitude of the specified setpoint step or setpoint ramp.
● Rise time
This parameter determines the period of time to be recorded (maximum 2048 position
controller cycles).
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At maximum axis acceleration, the velocity changes (almost) according to a
step function.
This characteristic corresponds to a realistic, finite value. The offset com‐
ponent is excluded from the display graphic in order to emphasize the tran‐
sient processes.
Signal characteristic for position control
CAUTION
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA