HEIDENHAIN MANUALPLUS 620 - Page 840

840 HEIDENHAIN Technical Manual MANUALplus 620
Simplified:
U
out
= MP_kvFactor · P
err
+ V
nom
· MP_feedForwardFactor
MP_feedForwardFactor
Factor for velocity feedforward control
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0: Feedback control with following error
>0,<1: Feedback control with velocity semifeedforward
1: Feedback control with velocity feedforward
Default: 1
Access: LEVEL3
Reaction: RUN
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
Note
For axes that are interpolated with each other, the k
v
factor and the factor
for velocity feedforward control must be equal. In this case the smaller k
v
factor determines the input value for all axes.