January 2012 6.16 The Control Loop 909
Compensation of
reversal peaks
For adjusting the compensation of the reversal peaks, proceed as follows:
Set machine parameters MP_compFFAdjust = 0 and MP_compRefAcc =
0 to ensure that the compensation strength is constant over all feed-rate
values.
Now select a typical machining speed and adjust the MP_compStrength,
MP_compWidth and MP_compTimeOffset parameters for the selected
speed.
MP_compWidth specifies the duration of compensation and should contain
values in the range of a few microns.
In MP_compStrength specify the distance (in [mm]) which the axis will
travel if it ideally complies with the transferred nominal speed value. The
reversal peak height resulting without compensation is a suitable starting
value for the compensation.
In MP_compWidth, enter the duration of compensation. The value entered
should lie in the range of a few microns.
Set the parameter MP_compTimeOffset = 0.
Run a circular interpolation test.
If the path traversed in the circular test deviates at the reversal point from
the nominal path, first toward the inside and then toward the outside, the
compensation is performed too early. In this case, you must increase the
value in MP_compTimeOffset.
If the path traversed deviates at the reversal point from the nominal path,
first toward the outside and then toward the inside, the compensation is
performed too late. In this case, you must decrease the value in
MP_compTimeOffset.
With the following formula you can estimate the magnitude of useful values
for the MP_compTimeOffset parameter:
compTimeOffset 2 acceleration[]compWidth⋅⋅6⋅=
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