HEIDENHAIN MANUALPLUS 620 - 6.16.15 IPC, holding torque, following error in the jerk phase

January 2012 6.16 The Control Loop 869
6.16.15 IPC, holding torque, following error in the jerk phase
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)
Integral Phase
Compensation (IPC)
Use the I factor MP_vCtrlIntGain of the speed controller to attain a short
settling time. However, the I factor has a negative influence on the position
controller. The position controller is more likely to oscillate, which often makes
it impossible to adjust the k
v
factor MP_kvFactor to the desired size.
The IPC compensates the negative influence of the I factor on the speed
controller, and makes it possible to increase the k
V
factor.
The IPC is beneficial on the following types of machines:
 Machine type 1: Machines with a dominant natural frequency between
15 Hz and 80 Hz, for which it is not possible to set a sufficiently high k
V
factor.
 Machine type 2: Small-to-medium size machines that are driven directly.
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgControllerComp
compCurrentOffset
compIpcT1
compIpcT2
compIpcJerkFact
401405
401407
401408
401409
Note
 The acceleration feedforward (MP_compAcc) must already have been
carefully adjusted for both types of machines.
 If after commissioning the IPC you wish to optimize the speed controller
again, you must switch off the IPC beforehand, because the IPC
influences the curve form.
 Use the same test program to commission the IPC as is used to measure
the jerk and the k
v
factor.