December 2001 The Control Loop 6 – 125
Unlike operation with following error, you must also enter the optimum k
v
factor for each axis when operating with interpolated axes.
You can selectively increase the contour accuracy with a higher k
v
factor . This
k
v
factor is activated with M105:
7
77
7 In MP1515.x, define a second set of k
v
factors and activate them with
M105.
M105 also influences compensation of reversal spikes during circular motion.
With M106 you can switch back to the original set of k
v
factors:
7
77
7 Enable the M functions M105/M106 with MP7440, bit 3.
MP1510.0-8 k
v
factor for velocity feedforward for axes 1 to 9
Input: 0.100 to 1000.000 [(m/min)/mm]
MP1515.0-8 k
v
factor for velocity feedforward effective after M105 for
axes 1 to 9
Input: 0.100 to 20.000 [(m/min)/mm]
MP7440 Output of M functions
Format: %xxxxx
Input: Bit 3 – Switching the k
v
factors with M105/M106:
0: Function is not in effect
1: Function is effective
U [V]
t [ms]
Warning
If the k
v
factor that you select is too large, the system will oscillate around
the forward-fed nominal velocity value.
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