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k
factor during
v
control with
following error
Interrelation of k
v
factor, feed rate,
and following error
December 2001
The control loop gain, the so-called k
position control loop. You must find the optimum k
If you select too high a k
result in oscillations.
If you choose too small a k
slowly.
For axes that are interpolated with each other, the k
prevent contour deviations.
7 7 7 7
In MP1810.x define a set of k
You can selectively increase the contour accuracy with a higher k
k
factor is activated with the M function M105:
v
7 7 7 7
In MP1815.x define a second set of k
M105 also influences compensation of reversal spikes during circular motion.
With M106 you can switch back to the original set of k
7 7 7 7
Enable the M functions M105/M106 with MP7440, bit 3.
The following formula shows the interrelation of k
following error:
v
v
e
e
k
=
------
or
s
=
------
v
a
s
k
a
v
k
= loop gain [(m/min)/mm]
v
v
= rapid traverse [m/min]
e
s
= following error [mm]
a
MP1810.0-8 k
factor for operation with following error for axes 1 to 9
v
Input:
0.100 to 20.000 [(m/min)/mm]
MP1815.0-8 k
factor for operation with following error effective after
v
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
0: Function is not in effect
1: Function is effective
The Control Loop
factor, defines the amplification of the
v
factor, the following error is very small. But this can
v
factor, the axis will move to a new position too
v
factors for operation with following error.
v
factors and activate them with M105.
v
factors with M105/M106:
v
factor by trial and error.
v
factors must be equal to
v
factor . This
v
factors:
v
factor, feed rate, and
v
6 – 123
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