January 2012 6.16 The Control Loop 871
MP_compIpcT1
IPC time constant T1
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 100 000 to 1 [s]
0: IPC inactive
Default: 0
Access: LEVEL3
Reaction: RUN
MP_compIpcT2
IPC time constant T2
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 100 000 to 1 [s]
0: IPC inactive
Default: 0
Access: LEVEL3
Reaction: RUN
Optimizing the jerk
feedforward control
In the same manner as the other feedforward controls in a control loop, the
jerk feedforward control causes following errors to be reduced or
compensated during a dynamic phase (in this case the phase of the change in
acceleration).
When the feedforward control is initially configured, the necessary jerk
feedforward control is calculated for the known control-loop factors, but the
mechanical deformation of the transmission components (e.g. due to torsion
of the ball screw or the slack sides and tight sides of belt drives) and the
resulting following error are unknown. This can be minimized or compensated
with the dimensionless multiplier MP_compIpcJerkFact, which affects the
jerk feedforward control directly.
When optimizing the jerk feedforward control all other controller parameters
must already have been adjusted.
The MP_compIpcJerkFact parameter is not available on the CC 61xx or
UEC 11x. Use the much more suitable parameter MP_compTorsionFact
instead (see "Torsion compensation" on page 944).
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