866 HEIDENHAIN Technical Manual MANUALplus 620
6.16.14 Acceleration feedforward control
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)
Acceleration feedforward functions only in velocity feedforward control in
parallel with the speed controller.
At every change in velocity, spikes of short duration appear in the following
error. With acceleration feedforward control you can minimize these spikes:
First adjust the friction compensation (see "Compensation of sliding friction"
on page 724).
From the integral-action component of the nominal current value I (N INT)
calculate the input value for MP_compAcc.
Adjust the acceleration feedforward control with MP_compAcc.
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgControllerComp
compAcc 401406
MP_compAcc =0
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