G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
387
6. Set the servo trace to display the following:
- Following error
- Actual velocity
- Actual position
- Reference position
7. Reset the tolerance values in the following machine data to the required values, once the optimum value for
T
n
has been identified:
- MD36020 $MA_POSITIONING_TIME
- MD36030 $MA_STANDSTILL_POS_TOL
- MD36040 $MA_STANDSTILL_DELAY_TIME
- MD36400 $MA_CONTOUR_TOL
Example
Setting result after several iterative processes for
K
R and T
n
.
Each of the following quantities - following error, actual velocity, actual position, and position setpoint - has been
recorded by servo trace. When traversing in JOG mode, the characteristic of the individual data shown in the
following figure was then drawn.
Set machine data:
MD32220 $MA_POSCTRL_INTEGR_ENABLE = 1
MD32210 $MA_POSCTRL_INTEGR_TIME = 0.003
MD32200 $MA_POSCTRL_GAIN[1] = 5.0
Parameter set selection 0
Figure 7-12 Following error (1), actual velocity (2), position actual value (3), position setpoint (4)
*UDSKLF7U$[LV;7U$[LV;!
*UDSKLF7U$[LV;7U$[LV;!
7U)ROORZLQJHUURU
7U$FWXDOSRVLWLRQPHDVXULQJV\VW
7U$FWXDOYHORFLW\
7U3RVLWLRQVHWSRLQW
0DUNHU;
0DUNHU;
