HEIDENHAIN MANUALPLUS 620 - Page 1108

1108 HEIDENHAIN Technical Manual MANUALplus 620
Commissioning the
analog axes
General
information
Analog axis feedback control is based on the following formula:
The temporary input values result in the following reduced formula for the
output voltage:
Therefore:
U
out
P(
err
kvFactor
V
nom
60
--------------------
feedForwardFactor 1000 A
nom
accForwardFactor)
9V 60
⋅
maxFeedAt9V
-----------------------------------------------------
⋅⋅ ⋅+⋅+⋅=
Value, parameter Unit Description
U
out
Volt Output voltage
(analog nominal speed value)
P
err
mm Following error (servo lag)
kvFactor 1/s Kv factor
(proportional component of position
controller)
V
nom
mm/min Nominal velocity
feedForwardFactor Factor for velocity feedforward control
A
nom
m/s
2
Nominal acceleration
accForwardFactor (s) Factor for acceleration feedforward
control
maxFeedAt9V mm/min Assumed velocity of the axis at 9 V
U
out
P(
err
0 V
nom
1 A
nom
0)
9V
maxFeedAt9V
----------------------------------------------------
⋅⋅+⋅+⋅=
U
out
V
nom
9V
maxFeedAt9V
----------------------------------------------------
⋅=
Note
Due to the temporary input values the axis is only in a speed control loop,
but not in a position control loop, during operation. The resulting following
error is not eliminated. For this reason, higher values were defined with the
temporary input values in the MP_servoLagMin1, MP_servoLagMin2,
MP_servoLagMax1 and MP_servoLagMax2 parameters.
Danger
Due to the temporary machine parameters, the position control loop is
open at the beginning of commissioning!
Hanging axes need 100 % weight compensation.
Ensure that hanging axes are adequately supported.