6 – 50 HEIDENHAIN Technical Manual TNC 426, TNC 430
6.4.7 Compensation of Sliding Friction (Only for Digital Axes)
Sliding friction is compensated within the range of the speed controller:
7
77
7 With the integrated oscilloscope of the TNC, define the nominal current
value (I NOMINAL) at a very low speed of approx. 10 rpm.
7
77
7 Enter the value for current in MP2610.x. At every change in direction, this
amount is fed forward to the speed controller to compensate the sliding
friction at low speeds.
7
77
7 Measure the nominal value for current (I NOMINAL) at rated speed
(MP2210) and enter it in MP2620.x. Depending on the speed nominal value,
a certain current is fed forward to the speed controller and causes a sliding
friction that depends on the speed.
When the traverse direction is reversed at high feed rates, the sliding friction
might be overcompensated. In a circular interpolation test, such
overcompensation appears in the form of reversal spikes that jut inward. With
MP2612.x you can prevent overcompensation by delaying the compensation.
MP2610.0-8 Friction compensation at low speed for axes 1 to 9
(effective only with velocity feedforward control)
Input: 0 to 30.0000 [A]
0: No friction compensation (or axis is analog)
MP2612.0-8 Delay of friction compensation for axes 1 to 9 (effective
only with velocity feedforward control)
Input: 0.0000 to 1.0000 [s] (typically: 0.015 s)
0: No friction compensation (or axis is analog)
MP2620.0-8 Friction compensation at rated speed for axes 1 to 9
Input: 0 to 30.0000 [A]
0: No friction compensation (or axis is analog)
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