January 2012 6.16 The Control Loop 907
The parameter MP_compTimeOffset shifts the compensation curve along
the time axis. The width is not changed. The velocity of the axis at which the
compensation function is to reach its maximum is defined. This means the
higher the acceleration at the reversal point, the closer the maximum will be
to the reversal point at the time of direction reversal.
MP_compTimeOffset
Time offset of the compensation
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: –999 999 999.999 999 999 to +999 999 999.999 999 999
[mm/min]
0: Compensation parabola reaches its maximum at the time of
direction reversal
Positive input value:
The compensation curve is delayed, which means that the
maximum will not be reached until after the direction reversal.
Negative input value:
The compensation curve is moved to an earlier position, which
means that the maximum is reached before the direction
reversal.
Default: 0
Access: LEVEL3
Reaction: RUN
Use machine parameter MP_compFFAdjust to adjust the area below the
compensation curve as a function of the velocity at the reversal point. The area
entered in the machine parameter MP_compStrength is valid for the
acceleration entered in MP_compRefAcc. The compensation strength is
increased or decreased during accelerations that differ from the acceleration
in MP_compRefAcc.
MP_compFFAdjust
Additive correction of the compensation strength to the
machine parameter MP_compStrength
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: –999 999 999.999 999 999 to +999 999 999.999 999 999 [mm]
0: The compensation strength is constant over all acceleration
values and is equal to the value in MP_compStrength.
> 0: The area below the compensation curve becomes larger for
low accelerations.
< 0: The area below the compensation curve becomes smaller
for low accelerations.
Default: 0
Access: LEVEL3
Reaction: RUN
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