HEIDENHAIN TNC 426 PB - Compensate the Sliding Friction

December 2001 Commissioning 6 – 497
10. Compensate the sliding friction:
7
77
7 Select operation with velocity feedforward control
7
77
7 Enter the following test program (sliding friction in the X axis):
LBL 1
L X+2 R0 F50
L X-2 R0 F50
CALL LBL 1/10
7
77
7 Use the integrated oscilloscope to record the actual shaft speed
(ACTUAL RPM) and the nominal current value (I NOMINAL).
7
77
7 Start the test program.
7
77
7 With the feed rate override knob, adjust the motor speed to 10 rpm
(MP2020.x).
7
77
7 Determine the current (I NOMINAL) in both directions of rotation.
7
77
7 Calculate MP2610.x:
7
77
7 Change the test program so that the motor rotates at its rated speed.
7
77
7 Restart the test program.
7
77
7 Determine the current (I NOMINAL) for the rated shaft speed.
MP2610.x
I NOML
1
I NOML
2
–
2
------------------------------------------------------------=