December 2001 Axis Error Compensation 6 – 47
Compensation Digital axes:
Compensate friction in the range of the speed controller (MP2610 to
MP2620). Do not compensate with MP711 to MP716. (See “Compensation of
Sliding Friction (Only for Digital Axes)” on page 6 – 50).
Analog axes:
If you have compensated the backlash with MP750, there should be no more
reversal spikes. If there are, compensate them with MP711 to MP716.
Compensation:
7
77
7 In MP711.x, enter the height of the spike.
7
77
7 In MP712.x, enter the amount of the reversal spike that is to be
compensated per control loop cycle (see “Calculation” above).
MP711.0-8 Height of the spikes during circular movement
(only analog) for axes 1 to 9
Input: -1.0000 to +1.0000 [mm] (digital: 0)
MP712.0-8 Compensation value per control loop cycle time
for axes 1 to 9
Input: 0.000 000 to 99.999 999 [mm] (digital: 0)
If the compensation has no effect, it may be because the machine’s dynamic
performance is too weak. You can selectively increase the contour accuracy
with a higher k
v
factor. With the M function M105 you can switch to a second
set of k
v
factors: In this way a second set of machine parameters becomes
active for reversal spike compensation (MP715.x and MP716.x). M106 resets
M105.
7
77
7 Enable the M functions M105/M106 with MP7440, bit 3.
7
77
7 In MP715.x, enter the height of the spike.
7
77
7 In MP716.x, enter the amount of the reversal spike that is to be
compensated per control loop cycle (see “Calculation” above)
MP7440 Output of M functions
Format: %xxxxx
Input: Bit 3 – switching the k
v
factors with M105/M106
0: Function is not in effect
1: Function is effective
MP715.0-8 With M105, height of the spikes during circular movement
(only analog) for axes 1 to 9
Input: -1.0000 to +1.0000 [mm] (digital: 0)
MP716.0-8 With M105, compensation value per control loop cycle time
for axes 1 to 9
Input: 0.000 000 to 99.999 999 [mm] (digital: 0)
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