HEIDENHAIN MANUALPLUS 620 - 6.16.6 Position controller

January 2012 6.16 The Control Loop 839
6.16.6 Position controller
The parameter object CfgPosControl is not required for:
 Virtual axes (MP_axisMode=Virtual)
 Axes that are for display only (MP_axisMode= Display)
The position controller uses the axis-specific nominal position values
transferred by the interpolator. The nominal speed values are determined and
transferred to the speed controller.
Feedback control The MANUALplus 620 operates with following error (servo lag) or with
velocity feedforward. It is defined in MP_feedForwardFactor.
 If MP_feedForwardFactor = 0, operation with 100 % following error is in
effect.
 MP_feedForwardFactor = >0 activates velocity semifeedforward control
(for analog axes).
 If MP_feedForwardFactor = 1, machining will be carried out using 100 %
velocity feedforward control (for digital axes).
With analog control, the shaft speed nominal value is calculated with the
following formula:
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgPosControl
kvFactor
feedForwardFactor
controlOutputLimit
400801
400806
400807
U
out
P(
err
kvFactor
V
nom
60
--------------------
feedForwardFactor 1000 A
nom
accForwardFactor)
9V 60
⋅
maxFeedAt9V
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