April 2013 1.4 New machine parameters 25
New: MP2547.x – Damping/phase increase for filter 6
Input: 0 to 40.0 [dB]
New: MP2557.x – Center/cutoff frequency for filter 6
Input: 0 to 30000.0 [Hz]
New: MP2567.x – Filter type for filter 6
Input: 0 = No filter
1 = PT2 low-pass filter (speed controller)
2 = Band-rejection (speed controller)
3 = Phase increase (speed controller)
11 = PT2 low-pass filter (position controller)
12 = Band-rejection (position controller)
13 = Phase increase (position controller)
New: MP2577.x – Bandwidth for filter 6
Input: 0 to 30000.0 [Hz]
New: MP2609.x – Only CC 6xxx: Filter frequency for CPF
Filter frequency for Crossover Position Filter, see page 29.
Input: 0 to 300 Hz
0 = Not active
New: MP2690 – Bandwidth limiting of the compensation values
The compensation values for backlash, static friction and reversal error can
be calculated dynamically depending on the acceleration, or by using fixed
time constants. The new parameter MP2690 can be used to prevent the
compensation values from changing too rapidly at very high acceleration. A
minimum time constant is entered to limit the bandwidth of the change of
the compensation values.
The reversal error is compensated dynamically depending on the
acceleration. The reversal error is compensated more rapidly at high
acceleration, and more slowly at low acceleration. The new MP708 is used
to define the distance within which the complete reversal error is to be
compensated. This dynamic compensation is active only if no time constant
is defined in MP752. The bandwidth of the compensation value can be
limited in MP2690.
Input: 0.0001 to 1.0000 [seconds]
0 = Not active
Enhanced: MP2700.x – Only CC 6xxx: Activation of the expanded
compensation
Bit 4 is added to MP2700.x. This enables you to activate and deactivate the
ACC compensation for specific axes.
Bit 4: ACC compensation
Input: %0000000000000000
0 = Not active
1= Active
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