ACU-RITE MILLPWR G2, Техническое руководство

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5.13 The Control Loop 341
Interrelation of k v
factor, feed rate,
and following error
The following formula shows the interrelation of kv factor, feed rate, and fol-
lowing error:
or
kv = kv factor [(mm/sec)/mm]
ve = rapid traverse [mm/sec]
sa = following error [mm]
MP_kvFactor
kv factor (proportional component of the position controller)
Format: Numeric value
Input: 0.000 000 000 to 1000 [1/sec]
Limiting of
controller output The controller output limit MP_controlOutputLimit is used only during
switch-on of position control without actual-to-nominal value transfer. Exam-
ple:
Clamped or hanging axes cause a following error when the position control
loop is open. When closing the control loop without actual-to-nominal value
transfer, this difference in the position is corrected by the control. The devia-
tion is corrected at the maximum feed rate entered in
MP_controlOutputLimit.
k
v
v
e
s
a
------ =
s
a
v
e
k
v
------ =
Note
The unit for the kv factor of the MILLPWR
G2
differs from the one used for
the other TNC contouring controls, such as the iTNC 530.
Unit for the kv factor of the TNC 320: mm / (mm · sec)
Unit for the kv factor of the iTNC 530:m / (mm · min)
Therefore:
iTNC 530 kv factor · 1000 / 60 = TNC 320 kv factor
Note
The axis parameters entered for jerk and acceleration have no effect. Enter
only values that are non-critical to the axis.
HEIDENHEIN recommends:
In
MP_controlOutputLimit, enter a value that is approximately
0.1 · MP_manualFeed.