662 HEIDENHAIN Technical Manual iTNC 530 HSCI
6.4.7 Compensation of sliding friction (only for digital axes)
Sliding friction is compensated within the range of the speed controller:
With the integrated oscilloscope of the iTNC, define the nominal current
value (I NOMINAL) at a very low speed of approx. 10 min
–1
.
Enter the value for current in MP2610.x. At every change in direction, this
amount is fed forward to the speed controller to compensate the sliding
friction at low speeds.
Measure the nominal value for current (I NOMINAL) at rated speed and
enter it in MP2620.x. Depending on the nominal speed value, a certain
current is fed forward to the speed controller and causes a sliding friction
that depends on the speed.
When the traverse direction is reversed at high feed rates, the sliding friction
might be overcompensated. In a circular interpolation test, such
overcompensation appears in the form of reversal spikes that jut inward. With
MP2612.x you can prevent overcompensation by delaying the compensation.
MP2610.x Friction compensation at low speeds (effective only with
velocity feedforward control)
Input: 0 to 100.0000 [A]
0: No friction compensation (or axis is analog)
MP2612.x Delay of the friction compensation (effective only with
velocity feedforward control)
Input: 0.0000 to 1.0000 [s] (typically: 0.015 s)
0: No friction compensation (or axis is analog)
MP2620.x Friction compensation at rated speed
Input: 0 to 100.000 [A]
0: No friction compensation (or axis is analog)
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