December 2001 Commissioning 6 – 493
5. Activate monitoring functions:
HEIDENHAIN recommends the following input values. You must change
these values slightly to adapt them to the design of the machine.
6. Compensate the backlash:
If the cause of the backlash is outside of the control loop:
7
77
7 Enter the backlash in MP710.x.
If the cause of the backlash is inside of the control loop:
7
77
7 Enter the following test program:
LBL 1
L X100 R0 F10
L X0
CALL LBL 1 REP 100/100
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7 Use the internal oscilloscope to record ACTL. SPEED and V (ACT RPM). At
the reversal point the actual feed rate follows the actual shaft speed by the
time delay t.
7
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7 Set the machine parameters:
• MP750 = t· ∆V ACTL (Keep in mind the units for t and ∆V ACTL)
• MP752 = approx. 20 ms (determined in test)
Note
To ensure that the monitoring functions become effective at the right
moment, you must enter meaningful values.
MP Temporary input
value
Meaning
MP1030.x 0.01 mm Positioning window
MP1110.x 2 · MP1030.x Standstill monitoring
MP1140.x 0.03 [1000 rpm] Movement monitoring
MP2800.x 0.5 mm Motion monitor for position and speed
MP1410.x 0.5 mm Position monitoring in operation with
velocity feedforward control (erasable)
MP1420.x 2 mm Position monitoring in operation with
velocity feedforward control
(EMERGENCY STOP)
MP1710.x 1.2 · following error
in rapid traverse
Position monitoring in operation with
following error (erasable)
MP1720.x 1.4 · following error
in rapid traverse
Position monitoring in operation with
following error (EMERGENCY STOP)
∆V ACTL V ACTL V (ACTL RPM)–=
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