January 2012 6.16 The Control Loop 867
For calculation of the acceleration feedforward, the integral-action component
of the nominal current value I (N INT) is recorded with the internal oscilloscope.
The actual speed value V (ACT RPM) and nominal current value I (NOM) are
also recorded for better illustration.
I (N INT) = integral-action component of the nominal current value
t = acceleration time in which I (N INT) remains constant
ΔV (ACT RPM) = actual-speed-value change
MP_distPerMotorTurn = traverse distance per motor revolution
MP_compAcc
Acceleration feedforward control
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 000 000 to 6 [As
2
]
Default: 0
Access: LEVEL3
Reaction: RUN
MP_compAcc =optimum
MP_compAcc
I (N INT) [A] t [s] 60 [s/min] MP_distPerMotorTurn [mm]⋅⋅ ⋅
ΔV (N IST) [mm/min]
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