1106 HEIDENHAIN Technical Manual iTNC 530 HSCI
7.8 Stick-slip friction compensation at quadrant transitions
With the CC 61xx, the stick-slip friction compensation already begins before
the zero crossover of the speed.
With the CC 61xx, the parameters MP2612.x and MP2614.x now function
with respect to distance (unit: [mm]).
This makes it possible to compensate quadrant transitions
independently of velocity, acceleration, and diameter.
If stick-slip compensation is used at the same time that an HSC filter is being
used, then in rare cases unwanted movements of the machine can occur (brief
movement in wrong/reversed direction). You can avoid this effect by using the
triangle filter instead of the HSC filter.
MP2610.x Friction compensation at low motor speed
Input: 0 to 30.0000 [A] (effective value)
0: No friction compensation
MP2612.x Distance before the reversal point from which a reduction
of the current from MP2610.x is to go into effect
Input: 0 to 1.000 [mm] or [°]
0: No friction compensation
0.1: Typical input value
MP2614.x Distance after the reversal point from which the current
from MP2610.x is to go into effect again
Input: 0 to 1.000 [mm] or [°]
0: Friction compensation same as CC 422
0.1: Typical input value
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