July 2013 6.4 Axis-error compensation 695
Checking the
compensation
After a load change, the changed characteristics are determined during
machining. The adaptation speed can be entered in TNCopt by using a gain.
The default gain yields very good results in almost all cases. The gain should
be adjusted in the following cases, however:
If the gain is too low, the learning phase is very long. If this is the case you
can see in the internal control oscilloscope that during the phase of
acceleration or constant traversing speed, there is a discrepancy between
the integral current and nominal current that decreases only very slowly.
If the gain is too high, the adaptation algorithm might become unstable or
the feedforward values might carry a lot of noise. The internal control
oscilloscope shows a lot of noise in the nominal current.
Module 9047 Reset or initialize controller algorithms
Module 9047 can reset controller algorithms or reinitialize them.
Constraints:
The module must not be called in the cyclic PLC program part.
Call:
PS B/W/D/K <Mode>
0: Commands to the CC (reset/reinitialize)
–1: All axes
0 to n: Dependence on MP4020 bit 14
PS B/W/D/K <CC command>
0: Reset Load Adaptive Control (SW option 143)
1: Deactivate all adaptive controller parameters
2: Activate all adaptive controller parameters
CM 9047
PL B/W/D <Error code>
0: No error. Reinitialization successful
1: Call was not in a submit/spawn job
2: NC/CC does not support the desired function
3: Invalid value in the <Mode> parameter
4: Invalid value in the <Axis number> parameter
5: Invalid value in the <CC command> parameter
100: Programmed CC data is not available for programmed
axis
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