G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
377
Approximation formulas for the equivalent time constant of the position control loop of an axis
The equivalent time constant T
equiv
of the position control loop of an axis is approximately calculated depending
on the type of precontrol:
• Without precontrol:
• With speed precontrol:
• For combined torque/speed precontrol
7.5.2 Parameter sets of the position controller
Six different parameters sets
The position control can operate with 6 different servo parameter sets.
They are used as follows
1. Fast adaptation of the position control to altered machine characteristics during operation, e.g. a gear change
of the spindle.
2. Matching the dynamics of an axis to another axis, e.g. during tapping.
Axis 1: MD32910 $MA_DYN_MATCH_TIME = 0 ms
Axis 2: MD32910 $MA_DYN_MATCH_TIME = 30 ms - 20 ms = 10 ms
Axis 3: MD32910 $MA_DYN_MATCH_TIME = 30 ms - 24 ms = 6 ms
Note
If dynamic response adaptation is realized for a geometry axis, then all other geometry axes
must be set to the same dynamic response.
References:
"Commissioning Instructions" SINUMERIK 840D sl, SINAMICS S120
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