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Compensation
December 2001
Digital axes:
Compensate friction in the range of the speed controller (MP2610 to
MP2620). Do not compensate with MP711 to MP716. (See "Compensation of
Sliding Friction (Only for Digital Axes)" on page 6 – 50).
Analog axes:
If you have compensated the backlash with MP750, there should be no more
reversal spikes. If there are, compensate them with MP711 to MP716.
Compensation:
7 7 7 7
In MP711.x, enter the height of the spike.
7 7 7 7
In MP712.x, enter the amount of the reversal spike that is to be
compensated per control loop cycle (see "Calculation" above).
MP711.0-8
Height of the spikes during circular movement
(only analog) for axes 1 to 9
Input:
-1.0000 to +1.0000 [mm] (digital: 0)
MP712.0-8
Compensation value per control loop cycle time
for axes 1 to 9
Input:
0.000 000 to 99.999 999 [mm] (digital: 0)
If the compensation has no effect, it may be because the machine's dynamic
performance is too weak. You can selectively increase the contour accuracy
with a higher k
factor. With the M function M105 you can switch to a second
v
set of k
factors: In this way a second set of machine parameters becomes
v
active for reversal spike compensation (MP715.x and MP716.x). M106 resets
M105.
7 7 7 7
Enable the M functions M105/M106 with MP7440, bit 3.
7 7 7 7
In MP715.x, enter the height of the spike.
7 7 7 7
In MP716.x, enter the amount of the reversal spike that is to be
compensated per control loop cycle (see "Calculation" above)
MP7440
Output of M functions
Format:
%xxxxx
Input:
Bit 3 – switching the k
0: Function is not in effect
1: Function is effective
MP715.0-8
With M105, height of the spikes during circular movement
(only analog) for axes 1 to 9
Input:
-1.0000 to +1.0000 [mm] (digital: 0)
MP716.0-8
With M105, compensation value per control loop cycle time
for axes 1 to 9
Input:
0.000 000 to 99.999 999 [mm] (digital: 0)
Axis Error Compensation
factors with M105/M106
v
6 – 47
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