HEIDENHAIN iTNC 530 Service Manual page 114

Position control The nominal velocity value consists of an open-loop and a closed-loop component.
with velocity
With velocity feedforward control, the machine-adjusted nominal velocity value is the open-loop
feedforward control
controlled component. The closed-loop velocity component is calculated through the following
error. The following error is small.
On the basis of MP 1392 (for the operating modes Positioning with manual data input,
Program run / single block and Program run full sequence) and MP 1391 (for the operating
modes Manual operation and El. handwheel) you can find out whether the traverse is
performed in the following error mode or feedforward mode. --> With velocity feedforward
control, the bits are set to 1.
Block diagram:
Unlike operation with following error, the optimum kv factor for each axis when operating with
interpolated axes is set by the machine manufacturer.
11– 114
S S
+
Noml a
–
S
Actl
Δ S
Noml
Δ t
v
v
+
Noml
S
+
a
MP1510.x
v
MP1080.x
HEIDENHAIN Service Manual iTNC 530