Siemens sinumerik 840D sl Function Manual

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Detailed description2.3 Start-up of gantry axesSpecial functions: Gantry Axes (G1)24 Function Manual, 11/2006, 6FC5397-2BP10-2BA0• MD32420 $MA_JOG_AND_POS_JERK_ENABLE (basic position of axial jerk limitation)• MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk)References:/FB1/ Function Manual, Basic Functions, Velocities, Setpoint-Actual Value Systems, Closed-Loop Control (G2)Dynamics matchingThe leading axis and the coupled axis must be capable of the same dynamic response tosetpoint changes. The same dynamic response means: The following errors are equal inmagnitude when the axes are operating at the same speed.The dynamic response adaptation function in the setpoint branch makes it possible to obtainan excellent match in the response to setpoint changes between axes, which have differentdynamic characteristics (control loops). The difference in equivalent time constants betweenthe dynamically "weakest" axis and the other axis in each case must be specified as thedynamic response adaptation time constant.ExampleWhen the speed feedforward control is active, the dynamic response is primarily determinedby the equivalent time constant of the "slowest" speed control loop.Leading axis:MD32810 $MA_EQUIV_SPEEDCTRL_TIME [n] = 5ms (equivalent time constant speedcontrol loop for feedforward control)Following axis:MD32810 $MA_EQUIV_SPEEDCTRL_TIME [n] = 3ms• Time constant of dynamic response adaptation for synchronized axis:MD32910 $MA_DYN_MATCH_TIME [n] = 5ms - 3ms = 2ms (time constant of dynamicresponse adaptation)The dynamic response adaptation must be activated axially with the machine data:MD32900 $MA_DYN_MATCH_ENABLE (dynamic response adaptation)Check of dynamic response adaptation:The following errors of the leading and synchronized axes must be equal in magnitude whenthe axes are operating at the same speed!For the purpose of fine tuning, it may be necessary to adjustservo gain factors orfeedforward control parameters slightly to achieve an optimum result.Referencing gantry axesThe positions of the reference points of the leading and synchronized axes must first be setto almost identical values.To ensure that the synchronization compensatory motion of the gantry axes is not startedautomatically, the gantry warning limit must be set to 0 at the first start-up before referencing:MD37100 $MA_GANTRY_POS_TOL (gantry axis definition)