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Limiting the
integral factor
Integral phase
compensation (IPC)
854
For calculation of the acceleration feedforward, the integral-action component
of the nominal current value I (int rpm) is recorded with the internal
oscilloscope. The actual speed value V (act rpm) and nominal current value (i
nominal) are also recorded for better illustration.
I (N INT) [A] t [s] 60 [s/min] MP1054.x [mm]
--------------------------------------------------------------------------------------------
MP2600.x
=
I (int rpm)=
integral-action component of the nominal current value
t
=
acceleration time in which I (int rom) remains constant
ΔV (ACT RPM)=actual-speed-value change while
MP1054.x=
traverse distance per motor revolution
MP2600.x
Acceleration feedforward control
Input:
0 to 100.0000 [A/(U/s
In machines with a great deal of stiction, a high integral-action component can
accumulate if there is a position error at standstill. This can result in a jump in
position when the axis begins moving. In such cases you can limit the integral-
action component of the speed controller:
Enter a limit in MP2512.x.
Realistic input values: 0.1 to 2.0
MP2512.x
Limit of integral factor of the speed controller
Input:
0.000 to 30.000 [s]
An I factor can be set in the speed controller of the iTNC (MP2510.x). This l
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).
V
The IPC is beneficial on the following types of machines:
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
Machine type 2: Small-to-medium size machines that are driven directly.
Note
The acceleration feedforward (MP2600.x) must already have been
carefully adjusted for both types of machines.
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.
Use the same test program to commission the IPC as is used to measure
the jerk and the k
factor.
v
⋅
⋅
⋅
ΔV (N IST) [mm/min]
2
)]
HEIDENHAIN Technical Manual iTNC 530 HSCI
factor
V
factor.
v
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