6 – 140 HEIDENHAIN Technical Manual TNC 426, TNC 430
Integral Phase
Compensation IPC
An I factor can be set in the speed controller of the TNC (MP2510.x). This
I factor is needed to attain a short setting time. However, the I factor has a
negative influence on the position controller, i.e. the position controller tends
to oscillate more easily, and it is often impossible to set the k
V
factor
(MP1510.x) high enough.
The IPC (Integral Phase Compensation) compensates the negative influence
of the I factors on the speed controller, and makes it possible to increase the
k
V
factor (MP1510.x).
The IPC is beneficial on the following types of machines:
n Machine type 1: Machines with a dominant natural frequency between
15 Hz and 80 Hz, for which it is not possible to set a sufficiently high k
V
factor.
n Machine type 2: Small-to-medium size machines that are driven directly.
Machine type 1:
7
77
7 The machine is commissioned as usual until the k
V
factor is to be
determined.
7
77
7 Enter MP2602.x = 1 and MP2604.x = 0.
7
77
7 Increase the k
V
factor (MP1510.x) until you reach the oscillation limit.
7
77
7 Starting value:
7
77
7 Change MP2604.x until you have found the maximum k
V
factor (MP1510.x).
If you cannot find a maximum k
V
factor, use the default value in MP2604.x.
7
77
7 Starting value:
7
77
7 Increase MP2602.x until you have found a maximum k
V
factor (MP1510.x).
If the value found for MP2602.x is significantly greater than the starting
value (> factor 2), you should adjust MP2604.x again by enlarging and
reducing it to find the optimum value.
7
77
7
Note
n The acceleration (MP2600.x) feedforward must already have been
carefully adjusted for both types of machines.
n If after commissioning the IPC you wish to optimize the speed controller
again, you must switch off the IPC beforehand, because the IPC
influences the curve form.
n Use the same test program to commission the IPC as is used to measure
the jerk and the k
V
factor.
MP2604.x
2
3
---
MP2600.x
MP2500.x
--------------------------------
⋅=
MP2602.x
MP2600.x
MP2500.x
--------------------------------=
MP1510.x 0.65 determined k
V
⋅=
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