Siemens SINUMERIK 840D sl Function Manual page 74

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Detailed description

2.1 Axis monitoring

Following Error Monitoring

In control engineering terms, traversing along a machine axis always produces a certain

following error, i.e., a difference between the set and actual position.

The following error that arises depends on:

• Position control loop gain

• Maximum acceleration

• Maximum velocity

• With activated feedforward control: Precision of the path model and the parameters:

In the acceleration phase, the following error initially increases when traversing along a

machine axis. After a time depending on the parameterization of the position control loop,

the following error then remains constant in the ideal case. Due to external influences, more

or less large fluctuations in the following error always arise during a machining process. To

prevent these fluctuations in the following error from triggering an alarm, a tolerance range

within which the following error may change must be defined for the following-error

MD36400 $MA_CONTOUR_TOL (Contour monitoring tolerance range)

MD32200 $MA_POSCTRL_GAIN (servo gain factor)

MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration)

MD32000 $MA_MAX_AX_VELO (maximum axis velocity)

MD32610 $MA_VELO_FFW_WEIGHT (factor for the velocity feedforward control)

MD32800 $MA_EQUIV_CURRCTRL_TIME (Equivalent time constant current control loop

for feedforward control)

MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop

for feedforward control)

Basic logic functions: Axis monitoring, protection zones (A3)

Function Manual, 11/2006, 6FC5397-0BP10-2BA0

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