HEIDENHAIN MANUALPLUS 620 - Page 914

914 HEIDENHAIN Technical Manual MANUALplus 620
General
information
Analog axis feedback control is based on the following formula:
U
out
P(
err
kvFactor V
nom
feedForwardFactor A
nom
accForwardFactor)
9V
maxFeedAt9V
-------------------------------------------- -
⋅⋅+⋅+⋅=
Value, parameter Unit Description
U
out
Volt Output voltage
(analog nominal speed value)
P
err
mm Following error (servo lag)
kvFactor 1/s Kv factor
(proportional component of position
controller)
V
nom
mm/min Nominal velocity
feedForwardFactor Factor for velocity feedforward control
A
nom
m/s
2
Nominal acceleration
accForwardFactor Factor for acceleration feedforward
control
maxFeedAt9V mm/min Assumed velocity of the axis at 9 V