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Integral Phase
Compensation IPC
6 – 140
An I factor can be set in the speed controller of the TNC (MP2510.x). This
I factor is needed to attain a short setting time. However, the I factor has a
negative influence on the position controller, i.e. the position controller tends
to oscillate more easily, and it is often impossible to set the k
(MP1510.x) high enough.
The IPC (Integral Phase Compensation) compensates the negative influence
of the I factors on the speed controller, and makes it possible to increase the
k
factor (MP1510.x).
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The IPC is beneficial on the following types of machines:
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Machine type 1: Machines with a dominant natural frequency between
15 Hz and 80 Hz, for which it is not possible to set a sufficiently high k
factor.
n
Machine type 2: Small-to-medium size machines that are driven directly.
Note
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The acceleration (MP2600.x) feedforward must already have been
carefully adjusted for both types of machines.
n
If after commissioning the IPC you wish to optimize the speed controller
again, you must switch off the IPC beforehand, because the IPC
influences the curve form.
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Use the same test program to commission the IPC as is used to measure
the jerk and the k
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Machine type 1:
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The machine is commissioned as usual until the k
determined.
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Enter MP2602.x = 1 and MP2604.x = 0.
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Increase the k
factor (MP1510.x) until you reach the oscillation limit.
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MP2604.x
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Starting value:
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Change MP2604.x until you have found the maximum k
If you cannot find a maximum k
MP2602.x
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Starting value:
7 7 7 7
Increase MP2602.x until you have found a maximum k
If the value found for MP2602.x is significantly greater than the starting
value (> factor 2), you should adjust MP2604.x again by enlarging and
reducing it to find the optimum value.
=
MP1510.x
0.65 determined k
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factor.
2
⋅
MP2600.x
---
--------------------------------
=
3
MP2500.x
factor, use the default value in MP2604.x.
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MP2600.x
=
--------------------------------
MP2500.x
⋅
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HEIDENHAIN Technical Manual TNC 426, TNC 430
factor
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V
factor is to be
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factor (MP1510.x).
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factor (MP1510.x).
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