G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
Basic Functions
378
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Parameter set changeover
Tapping or thread cutting
The following applies to parameter sets for axes:
• For machine axes not involved in tapping or thread cutting, parameter set 1 (index=0) is always used.
The further parameter sets need not be considered.
• For machine axes involved in tapping or thread cutting, the same parameter set number as for the current
gear stage of the spindle is activated.
All parameter sets correspond to the gear stages and must therefore be parameterized.
The current parameter set is displayed in operating area "Diagnostics" in the "Service axis" display. The
parameter sets for gear stages 1 to 5 are referred to as interpolation parameters.
The following machine data can be changed by switching over the parameter set during operation:
Denominator load gearbox
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
Numerator load gearbox
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
Servo gain factor (K
v
)
MD32200 $MA_POSCTRL_GAIN[n]
Backlash compensation
MD32452 $MA_BACKLASH_FACTOR[n]
Feedforward control factor
MD32610 $MA_VELO_FFW_WEIGHT[n]
Exact stop limits
and zero-speed window
MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE[n]
MD36010 $MA_STOP_LIMIT_FINE[n]
MD36030 $MA_STANDSTILL_POS_TOL[n]
Equivalent time constant
Current control loop for combined torque/speed
precontrol
MD32800 $MA_EQUIV_CURRCTRL_TIME[n]
Equivalent time constant
speed control loop for speed feedforward control
MD32810 $MA_EQUIV_SPEEDCTRL_TIME[n]
Time constant for dynamic response adaptation
MD32910 $MA_DYN_MATCH_TIME[n]
Threshold value for velocity monitoring
MD36200 $MA_AX_VELO_LIMIT[n]
