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Feedback control
with following error
6 – 122
Note
M90 (lag mode: Constant contouring speed at corners) is effective only if
operation with following error is selected for all axes (MP1392 =
%000000000).
MP1391
Velocity feedforward control in the MANUAL and
HANDWHEEL operating modes
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
Following error (also known as servo lag) is a gap that remains between the
nominal position commanded by the NC and the actual position.
Simplified representation:
S
Noml
S
Actl
The nominal position value s
position value s
and the resulting difference is the following error s
actl
s
= s
– s
a
Noml
Actl
s
= following error
a
s
= nominal position value
Noml
s
= actual position value
Actl
The following error is multiplied by the k
velocity value:
v = k
· s
v
a
v
= nominal velocity value
noml
Analog axes:
For stationary axes, the integral factor has an additional effect (MP1080.x). It
produces an offset adjustment.
Digital axes:
There is no offset. MP1080.x has no function.
for a given axis is compared with the actual
noml
factor and passed on as nominal
v
HEIDENHAIN Technical Manual TNC 426, TNC 430
v
Noml
:
a
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