Number Designation Value Meaning
MD35200[0] $MA_GEAR_STEP_SPEEDCTRL_ACCEL x Acceleration in speed control mode: as
tuned
MD35200[1] $MA_GEAR_STEP_SPEEDCTRL_ACCEL x
MD35210[0] $MA_GEAR_STEP_POSCTRL_ACCEL x Acceleration in position control mode: as
tuned
MD35210[1] $MA_GEAR_STEP_POSCTRL_ACCEL x
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START 2 Feed enable with spindle in setpoint range
MD35550[0] $MA_DRILL_VELO_LIMIT 4000 Maximum speeds for tapping
MD35550[1] $MA_DRILL_VELO_LIMIT 4000
MD36000 $MA_STOP_LIMIT_COARSE 0,4 Coarse exact stop
MD36010 $MA_STOP_LIMIT_FINE 0,1 Fine exact stop
MD36030 $MA_STANDSTILL_POS_TOL 5 Standstill tolerance
MD36040 $MA_STANDSTILL_DELAY_TIME 1 Zero speed monitoring delay time
MD36050 $MA_STOP_ON_CLAMPING 1 Clamping tolerance
MD36060 $MA_STANDSTILL_VELO_TOL 2 Threshold velocity / speed
"Axis/spindle stationary"
MD36200 $MA_AX_VELO_LIMIT 8800 Threshold value for velocity monitoring
MD36200 $MA_AX_VELO_LIMIT 8800
MD36300[0] $MA_ENC_FREQ_LIMIT 1000000 Encoder limit frequency
MD36300[1] $MA_ENC_FREQ_LIMIT 1000000
MD36400 $MA_CONTOUR_TOL 30 Contour monitoring tolerance band
p1433 SPEED_CONTROLLER_REFERENCE_ MOD‐
EL_NATURAL_FREQUENCY
x Speed controller reference model natural
frequency / n_reg RefMod fn: as tuned
6.5.2 Spindle: Checking the speed controller
Checking the acceleration of the speed controller
The acceleration of the speed controller is checked: The acceleration time must first be
determined without being affected by the NC. Set the following machine data:
●
MD35200[0] $MA_GEAR_STEP_SPEEDCTRL_ACCEL = 9999
●
MD35200[1] $MA_GEAR_STEP_SPEEDCTRL_ACCEL = 9999
( t=V/a t=9000/60s/9999 t=15 ms, consequently no effect).
Tuning
6.5 Optimize the spindle
CNC commissioning
196 Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
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