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k
factor during
v
control with
following error
Interrelation of k
v
factor, feed rate,
and following error
834
The control loop gain, known as the k
position control loop. You must find the optimum k
If you choose a k
factor that is too large, the following error will become very
v
small. However, this can lead to oscillations.
If you choose too small a k
slowly.
For axes that are interpolated with each other, the k
prevent contour deviations.
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
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
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
s
a
k
a
v
k
=
loop gain [(m/min)/mm]
v
v
=
rapid traverse [m/min]
e
s
=
following error [mm]
a
MP1810.x
k
factor for control with following error
v
Input:
0.100 to 20.000 [(m/min)/mm]
MP1815.x
k
factor for control with following error effective after
v
M105
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
factor, defines the amplification of the
v
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
v
factors with M105/M106
v
HEIDENHAIN Technical Manual iTNC 530 HSCI
factor by trial and error.
factors must be equal to
v
factor. This
v
factors:
v
factor, feed rate, and
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