Siemens SINUMERIK 840D sl Function Manual page 541

● Select the "Force equivalent time target value" option.
Note
The "Force equivalent time target value" option is set, when in addition to the speed
controller, the position controller is also reoptimized, and despite an equivalent time of the
precontrol specified, the path interpolation should not be reoptimized.
To ensure the correct path interpolation, an equivalent time can be specified. This should
correspond to the equivalent time of the axes previously optimized on the path.
● Take the equivalent time (MD32800 $MA_EQUIV_CURRCTRL_TIME or MD32810
$MA_EQUIV_SPEEDCTRL_TIME depending on MD32620 $MA_FFW_MODE) from the
other axes (here, 3 ms).
● The following parameters must be set in the servo parameter set:
– Precontrol equivalent time (MD32800 $MA_EQUIV_CURRCTRL_TIME) = 3 ms
– Position controller gain (MD32200 $MA_POSCTRL_GAIN)
Note
For the automatic operation, the servo parameter set with the appropriate path-optimum
values must then be selected in the other axes (here: with equivalent time = 3 ms).
Programming
Note
In the following program example, those cycle calls required for the reoptimization are
highlighted bold.
Any cycle calls not highlighted are optional.
DEF INT myaxiswithnewload=4
; Switch to a safe data set.
; Traverse axis to the safe position / home position.
; Strategy settings were made from the user interface: target value for the equivalent time!
; Is a destination data set (DDS) available that may be overwritten?
CYCLE751(1)
; Optimize axis 4: optimization with a selected strategy based on a new measurement
CYCLE752(myaxiswithnewload,3,false)
CYCLE754(myaxiswithnewload,2,2,-1)
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
T4: Automatic retuning with AST - only 840D sl
; Open the optimization session.
; Add axis 4, accept optimization strat-
egy from the standard optimization file
(XML file), do not consider the axis for
an optimization of the path interpola-
tion.
; Remove the current DDS from the data
set list.
12.5 Examples
541