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1.6 Software option 144—Motion Adaptive Control (MAC)
Considerations
before using MAC
Preparation and
activation
April 2013
1.6 Software option 144—Motion Adaptive Control (MAC)
The MAC option (only CC 6xxx) provides a way to change machine parameters
depending on motion-dependent input quantities (e.g velocity or following
error). This makes it possible, for example, to realize a velocity-dependent
adaptation of the kV factor on motors whose stability changes through the
various traversing velocities.
Considerations before using MAC:
Does the machine have a pronounced dependence on velocity or acceleration
regarding the controller parameters?
This becomes apparent:
The internal control oscilloscope if resonances occur at different velocities
or accelerations, and therefore the controller variables (actual speed,
nominal current) are subject to oscillations.
Audible oscillations at certain velocities and/or accelerations, or at a certain
velocity threshold.
Is there a need to change any controller settings or feedforward functions
depending on the velocity or acceleration?
This may be required for:
Master-slave torque drives whose tensioning is to be reduced for rapid
traverse (high acceleration), for example.
Activating MAC:
Activate MAC via TNCopt (using the "Expanded compensation types" menu
item).
Set the controller parameters of the axis for different velocities or
accelerations.
Use TNCopt to enter the parameters you have determined for up to four
support points. You can define up to five machine parameters and up to five
position-dependent filters (with two support points). The parameters are
interpolated linearly between the support points.
Following error, jerk, acceleration and velocity are available as input
quantities, to which the parameters are adjusted. Optionally, the input
quantity can be considered unsigned. This is useful in symmetrical
situations, for example to obtain the same adjustment for negative and
positive accelerations.
This function is described in detail in the TNCopt 7.0 online help. Available as
of the beginning of 2013.
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