Siemens SINUMERIK 840D sl Function Manual page 450

Detailed description
2.4 Closed-loop control
⇒ For machine data:
MD32910 $MA_DYN_MATCH_TIME[n] (dynamic response adaptation time constant)
the following values are achieved:
Axis 1:
Axis 2:
Axis 3:
Approximation formulae
The equivalent time constant of the position control loop of an axis is calculated according to
the following formula:
• No feedforward control is active
• Speed feedforward control
• Torque feedforward control
Note
If a geometry axis is subject to dynamic response adaptation, the same dynamic behavior is
also required of all other geometry axes and can be activated with the setting:
MD32900 $MA_DYN_MATCH_ENABLE= 1.
References:
/IAD/"Installation & Startup Guide", SINUMERIK 840D/611D
/IAC/"Installation & Startup Guide", SINUMERIK 810D
62
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
0 ms
10 ms
6 ms
Function Manual, 11/2006, 6FC5397-0BP10-2BA0