Dynamic Response Adaptation - Siemens SINUMERIK 840D sl Function Manual

The adjustment criterion for the torque feedforward control is:
● When the axis is traversing in the positive direction, the recorded following error has a
● When the axis is traversing in the positive direction, the recorded following error has a
5.5.4

Dynamic response adaptation

Function
For axes that interpolate with one another, but with different axial control loop response
times, dynamic response adaptation can be used to achieve identical time responses of all
axes to ensure optimum contour accuracy without loss of control quality.
Commissioning
Time constant for dynamic response adaptation (MD32910)
The difference between the equivalent time constants of the "slowest" speed or current
control loop and the particular axis should be entered as time constant for the dynamic
response adaptation in the following machine data.
MD32910 $MA_DYN_MATCH_TIME (time constant of dynamic response adaptation)
Example:
Equivalent time constants of the speed control loop (MD32810) for active speed feedforward
control of axes 1, 2 and 3:
● Axis 1: 2 ms
● Axis 2: 4 ms (dynamically the slowest axis)
● Axis 3: 1 ms
This means that the following values are obtained for the time constant of the dynamic
response adaptation MD32910:
● Axis 1: 2 ms
● Axis 2: 0 ms
● Axis 3: 3 ms
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
positive value.
⇒ The value entered for the equivalent time constant of the current control loop or for the
moment of inertia of the axis is too low.
negative value.
⇒ The value entered for the equivalent time constant of the current control loop or for the
moment of inertia of the axis is too high.
Note
As a result of the extremely fast sequences when accelerating, when commissioning the
torque feedforward control, the service display cannot be used to check the fine
adjustment.
5.5 Dynamic feedforward control (following error compensation)
K3: Compensation
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