December 2001 Axis Error Compensation 6 – 49
Compensation The compensation must be effective only at low feed rates, otherwise the
nominal value increase will cause vibration at high velocity:
7
77
7 In MP1511.x, enter a factor for static friction compensation (approximate
value: 5000 to 10 000).
7
77
7 In MP1512.x, enter a limit for the amount of the static friction compensation
(approx. value: < 50).
7
77
7 In MP1513.x, limit the maximum feed rate up to which the static friction
compensation remains in effect.
MP1511.0-8 Factor for static friction compensation for axes
1 to 9
Input: 0 to 16 777 215 [µs]
MP1512.0-8 Limit to the amount of static friction compensation for axes
1 to 9
Input: 0 to 16 777 215 [counting steps]
MP1513.0-8 Feed-rate limitation for static friction compensation for
axes 1 to 9
Input: 0 to 300 000 [mm/min]
MP1391 Velocity feedforward control in the MANUAL and
HANDWHEEL operating modes
Format: %xxxxxxxxx
Input: Bits 0 to 8 correspond to axes 1 to 9
0: Operation with following error (lag)
1: Operation with velocity feedforward control
Digital axes: Limit
to the integral
factor
In machines with very high static friction, a position deviation at standstill can
lead to the accumulation of a very high integral factor. This can lead to a jump
in the position value when the axis “tears loose.” In such cases you can limit
the integral-action component of the speed controller with MP2512.x.
MP2512.0-8 Limiting the integral-action component of the speed
controller for axes 1 to 9
Input: 0.000 to 30.000 [s] (realistically: 0.1 to 2.0)
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