Siemens SINUMERIK 840D sl Function Manual page 453
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2.4.3
Extending the parameter set
Application
Some machines use the same drive for moving various machine parts, which, in view of
considerably varying speeds, results in a gear stage change. With each gear stage change,
the corresponding parameter set is also switched over.
Now several parameter sets are provided for further practical applications and for setting the
feedforward control of the control loop.
Functionality
To optimize closed-loop control during startup, these codable parameter sets support
practiceoriented startup by substantially reducing configuration expenditure with regard to
the new functions, such as backlash compensation, feedforward control factor, exact stop
limits, and zero-speed window.
New parameter sets
Until now it has been possible to change the gear ratio and other control loop parameters
(such as achievable control servo gain) by switching over the servo parameter set. The
already existing machine data with parameter set coding are extended as follows:
Parameter set coding (modifiable as a function of parameter set)
Backlash compensation
Feedforward control factor
Exact stop limits
Zero-speed window
Weighting factor for parameter set changeover
Weighting factor for:
•
Weighting factor for:
•
•
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Backlash compensation
Exact stop limits
Zero-speed window
MD32450 $MA_BACKLASH[n] (max. number of
encoders)
MD32610 $MA_VELO_FFW_WEIGHT[n]
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
MD36030 $MA_STANSTILL_POS_TOL
MD32452 $MA_BACKLASH_FACTOR[n]
MD32450 $MA_BACKLASH[n]
MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
MD36030 $MA_STANSTILL_POS_TOL
Detailed description
2.4 Closed-loop control
65
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