HEIDENHAIN TNC 430 PA/M - Machine Integration

December 2001 6 – 1
6 Machine Integration
6.1 Machine Axes................................................................................... 6 – 5
6.1.1 Selecting the Axes .................................................................... 6 – 5
6.1.2 Axis Designation ........................................................................ 6 – 6
6.1.3 Encoders ................................................................................... 6 – 8
6.1.4 Assignment ............................................................................. 6 – 15
6.1.5 Reading Axis Information ........................................................ 6 – 20
6.1.6 Traverse Ranges ...................................................................... 6 – 22
6.1.7 Lubrication Pulse ..................................................................... 6 – 26
6.2 PLC Axes ......................................................................................... 6 – 28
6.3 PLC Positioning.............................................................................. 6 – 33
6.4 Axis Error Compensation .............................................................. 6 – 36
6.4.1 Backlash Compensation .......................................................... 6 – 36
6.4.2 Linear Axis Error Compensation .............................................. 6 – 38
6.4.3 Nonlinear Axis Error Compensation ........................................ 6 – 39
6.4.4 Compensation of Thermal Expansion ...................................... 6 – 44
6.4.5 Compensation of Reversal Spikes during Circular Traverse .... 6 – 46
6.4.6 Compensation of Static Friction .............................................. 6 – 48
6.4.7 Compensation of Sliding Friction (Only for Digital Axes) ......... 6 – 50
6.5 Tilting Axes..................................................................................... 6 – 52
6.5.1 Determining the Mechanical Offset ........................................ 6 – 52
6.5.2 Describing the Mechanical Offset ........................................... 6 – 62
6.5.3 Temperature Compensation with Tilting Axes ........................ 6 – 74
6.5.4 Changing the Milling Heads .................................................... 6 – 76
6.5.5 “Tilt Working Plane” Feature .................................................. 6 – 77
6.5.6 Automatic Compensation of Offset for Tilting Axes ............... 6 – 83
6.5.7 Cylindrical Surface ................................................................... 6 – 85
6.6 Synchronized Axes ........................................................................ 6 – 87
6.6.1 Gantry Axes ............................................................................. 6 – 87
6.6.2 Master-Slave Torque Control ................................................... 6 – 91
6.7 Reference Marks ............................................................................ 6 – 98
6.7.1 Definition ................................................................................. 6 – 98
6.7.2 Traversing the Reference Marks ............................................. 6 – 98
6.8 The Control Loop ......................................................................... 6 – 109
6.8.1 Relation Between Jerk, Acceleration, Velocity and Distance 6 – 111
6.8.2 The Interpolator ..................................................................... 6 – 113
6.8.3 Position Controller ................................................................. 6 – 121
6.8.4 Speed Controller (Only TNC 426 PB/M, TNC 430 PA/M) ...... 6 – 134
6.8.5 Current Controller (Only TNC 426 PB/M, TNC 430 PA/M) .... 6 – 147
6.8.6 Braking the Spindle for an Emergency Stop .......................... 6 – 149
6.9 Offset Adjustment ....................................................................... 6 – 150
6.9.1 Offset Adjustment by Code Number .................................... 6 – 150
6.9.2 Automatic Cyclic Offset Adjustment ..................................... 6 – 151
6.9.3 Offset Adjustment with Integral Factor ................................. 6 – 151
6.10 Contouring Behavior ................................................................. 6 – 152
6.10.1 Radial Acceleration .............................................................. 6 – 152
6.10.2 Contour Velocity at Corners ................................................ 6 – 153