Optimizing The Jerk Feedforward Contro - HEIDENHAIN iTNC 530 HSCI Technical Manual

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Optimizing the jerk

feedforward control

In the same manner as the other feedforward controls in a control loop, the

jerk feedforward control causes following errors to be reduced or

compensated during a dynamic phase (in this case the phase of the change in

acceleration).

When the feedforward control is initially configured, the necessary jerk

feedforward control is calculated for the known control-loop factors, but the

mechanical deformation of the transmission components (e.g. due to torsion

of the ball screw or the slack sides and tight sides of belt drives) and the

resulting following error are unknown. This can be minimized or compensated

with the dimensionless multiplier MP2606, which affects the jerk feedforward

control directly.

When optimizing the jerk feedforward control all other controller parameters

must already have been adjusted.

With the CC 61xx you can use this function without active IPC.

Commissioning:

Enter the following test program:

0 BEGIN PGM TEST MM

2 L X <maximum traverse> R0 FMAX

4 CALL LBL1 REP 10/10

5 END PGM TEST MM

Run the program at high speed.

Use the integrated oscilloscope to record the following error.

Adjust MP2606.x until a minimal following error occurs in the jerk phase.

Here you can compensate the following error for the jerk phase.

Typical input values: 0 to 0.5 (e.g. 0.01).

Please note that values over 0.5 in MP2606.x do not make sense for the

CC 61xx controller unit, and are therefore not permissible. Therefore, an

error message will be issued for values greater than 0.5.

Following error in the jerk phase

0.000 to 0.800

HEIDENHAIN Technical Manual iTNC 530 HSCI