HEIDENHAIN MANUALPLUS 620 - Page 843

January 2012 6.16 The Control Loop 843
Controller output
limit
The controller output limit MP_controlOutputLimit is used only during
switch-on of position control without actual-to-nominal value transfer.
Example:
Clamped or hanging axes cause a following error when the position control
loop is open. When closing the control loop without actual-to-nominal value
transfer, this difference in the position is corrected by the MANUALplus 620.
The deviation is corrected at the maximum feed rate entered in
MP_controlOutputLimit.
If MP_controlOutputLimit = 0, the resulting following error is not corrected
until the next positioning block.
MP_controlOutputLimit
Controller output limit for the position controller
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 000 000 to 1666 [mm/min]
Default: 0 [mm/min]
Access: LEVEL3
Reaction: RUN
Feedback control
with velocity
feedforward
For feedback control with velocity feedforward, the nominal velocity value
consists of an open-loop and a closed-loop component.
The machine-adjusted nominal velocity value is the open-loop controlled
component. The closed-loop velocity component is calculated through the
following error. The following error is small.
Note
The axis parameters entered for jerk and acceleration have no effect. Enter
only values that are non-critical to the axis.
HEIDENHAIN recommends:
In MP_controlOutputLimit, enter a value that is approximately
0.1 · MP_manualFeed.