724 HEIDENHAIN Technical Manual MANUALplus 620
6.10.6 Compensation of sliding friction
The parameter object CfgControllerComp is not required for:
Virtual axes (MP_axisMode=Virtual)
Axes that are for display only (MP_axisMode=Display)
Analog axes (MP_axisHw=Analog)
CC 61xx, CC 424
With the CC 61xx and CC 424, this makes it possible to compensate quadrant
transitions independently from velocity, acceleration, and diameter.
The CC calculates the distance from the zero crossover of velocity. The
compensation current is reduced starting from the distance before the zero
crossover defined in MP_compFrictionT1. After the zero crossover, the
compensation current is increased again. MP_compFrictionT2 defines the
point after the zero crossover at which 63 % of the compensation current is
reached.
In MP_compFrictionT1, define the distance before the reversal point from
which a reduction of the current from MP_compFriction0 is to go into
effect.
In MP_compFrictionT2, define the distance after the reversal point from
which the current from MP_compFriction0 is to go into effect again.
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgControllerComp
compFriction0
compFrictionT1
compFrictionT2
compFrictionNS
401401
401402
401403
401404
Machine parameters MP_compFrictionT1 and MP_compFrictionT2 now
function with respect to distance rather than time (unit: [mm] or [°]).
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