HEIDENHAIN MANUALPLUS 620 Technical Manual

January 2012 9
6.11 Machine Kinematics (As of NC Software 548328-03) ..................727
6.11.1 Configuring the machine kinematics...................................730
6.11.2 Preconfigured subkinematics..............................................739
6.11.3 Standard kinematic models.................................................742
6.11.4 Finding/activating kinematics through the PLC...................744
6.11.5 Axis mirroring on lathes (as of NC software 548328-03) ....746
6.12 Machine Kinematics (Up to NC Software 548 328-02) ................747
6.12.1 Configuration of the machine kinematics ...........................748
6.12.2 Definition of the transformation with vectors.....................758
6.12.3 Axis mirroring for lathes......................................................761
6.13 Parallel Axes ....................................................................................762
6.14 Synchronized Axes (Option 24) .....................................................764
6.14.1 Gantry axes.........................................................................765
6.14.2 Master-slave torque control................................................775
6.14.3 Brake test for synchronized axes........................................784
6.15 Reference Marks..............................................................................789
6.15.1 Definition.............................................................................789
6.15.2 Traversing the reference marks..........................................790
6.15.3 Traversing the reference marks..........................................794
6.15.4 Defining the process of traversing the reference marks ....797
6.15.5 "Traverse Reference Points" operating mode .....................804
6.16 The Control Loop ............................................................................808
6.16.1 Block diagram of control loop .............................................808
6.16.2 Relation between jerk, acceleration, velocity and distance 809
6.16.3 Nominal position value filter................................................811
6.16.4 Look-ahead..........................................................................825
6.16.5 Interpolator..........................................................................838
6.16.6 Position controller ...............................................................839
6.16.7 Activating and deactivating position control loops..............848
6.16.8 Feed-rate enable .................................................................852
6.16.9 Speed controller..................................................................853
6.16.10 Filters in the speed controller and position controller
when using the CC 61xx and CC 424 .................................857
6.16.11 Filter order for separate low-pass filter in the speed
controller on the CC 61xx and CC 424: ..............................861
6.16.12 Peculiarities in weakened-field operation with CC 61xx
and CC 424 .........................................................................862
6.16.13 Active damping of low-frequency oscillations.....................864
6.16.14 Acceleration feedforward control........................................866
6.16.15 IPC, holding torque, following error in the jerk phase.........869
6.16.16 HSCI: switching drives on and off, enabling the drive
controller.............................................................................874
6.16.17 Current controller................................................................885
6.16.18
Braking the drives for an emergency stop and a power failure ....890
6.16.19 Power and torque limiting...................................................894
6.16.20 Controller parameters for manual traverse .........................901
6.16.21 Controller parameters for analog axes................................902
6.16.22 Controller parameters for analog axes................................913
6.16.23 Weakened field operation ...................................................924
6.16.24 Motor with wye/delta switchover.......................................936
6.16.25 Speed-dependent switching of the PWM frequency..........938
6.16.26 TRC – Torque Ripple Compensation ...................................941
6.16.27 Torsion compensation.........................................................944

HEIDENHAIN MANUALPLUS 620 Specifications

General

Brand	HEIDENHAIN
Model	MANUALPLUS 620
Category	Control Systems
Language	English