HEIDENHAIN TNC 430 PA/M - Position Controller Cycle Time

December 2001 The Control Loop 6 – 121
6.8.3 Position Controller
Position controller
cycle time
With MP7600.0 you can set the position controller cycle time:
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7 In MP7600.0, enter a factor which, when multiplied by 0.6 ms, results in the
position controller cycle time.
With the input value MP7600.0 = 5, the TNC has a minimum position
controller cycle time of 3 ms. Particularly during applications that require
intensive processing (e.g. M128) or several axes (5 to 9) the error message
PROCESSOR CHECK ERROR may appear. In this case, increase the position control
cycle time to 3.6 ms by entering the factor 6 in MP7600.0.
This increase simultaneously increases the PLC cycle time. To return to the
previous PLC cycle time, enter the factor 6 in MP7600.1; the PLC cycle time
is then 21.6 ms. For entries which lead to a PLC cycle time < 20 ms, the PLC
cycle time is limited to 20 ms.
MP7600.0 Position controller cycle time = MP7600.0 · 0.6 ms
Input: 1 to 20
Proposed input value: 5 (= 3 ms)
MP7600.1 PLC cycle time = position controller cycle time · MP7600.1
Input: 1 to 20
Proposed input value: 7 (= 21 ms)
You can choose between two types of feedback control:
n Feedback control with following error (servo lag)
n Feedback control with velocity feedforward
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7 Select the type of control in the POSITIONING WITH MANUAL DATA
INPUT, PROGRAM RUN SINGLE BLOCK and PROGRAM RUN FULL
SEQUENCE operating modes with MP1390 or MP1392.
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7 Select the type of control in the MANUAL and HANDWHEEL modes of
operation with MP1391.
MP1390 Velocity feedforward in the POSITIONING WITH MANUAL
DATA INPUT, PROGRAM RUN SINGLE BLOCK and
PROGRAM RUN FULL SEQUENCE operating modes
As of software version:only before 280 474-07
Input: 0: Operation with velocity feedforward control
1: Operation with following error (lag)
MP1392 Velocity feedforward in the POSITIONING WITH MANUAL
DATA INPUT, PROGRAM RUN SINGLE BLOCK and
PROGRAM RUN FULL SEQUENCE operating modes
As of software version:280 474-07
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
Note
The machine must always be adjusted for both types of control.