Technical Manual TNC 360 - heidenhain - DR. JOHANNES ...

v
v=a·t
➀ ➁
Acceleration:
MP1060
t
s=s 0+v·Δt
➂
X S
Y S
X Noml
8/95 TNC 360 3 Servo Positioning of the NC Axes 4-53
-
X Actl
+ ➃
s ax
kv factor: MP1810
Kinkpoint: MP1830
Multiplication factor: MP1820
V x
U
➄
➅
s ax
v = kv ·s ax
Integral factor
MP1080
t
v x Noml+
Servo
amplifier
➀ The control calculates a nominal velocity value every 6 ms from the feed programmed in the NC
program and the final position (X- , Y-, Z-, 4th axis) , allowing for the acceleration which has been
stored (MP1060). The stored acceleration is valid for the rising as well as the falling slope. If
several axes are traversed simultaneously, then the smallest value for acceleration is effective.
➁ Every 6 ms a nominal path value is calculated from the velocity nominal value.
s = so + v ·Δt s = nominal path value
so = previous nominal path value
v = nominal velocity value
Δt = cycle time 6 ms
➂ The nominal path value is resolved into the individual axis components, depending on which
axes have been programmed.
➃ The axis-dependent nominal path value is compared with the actual value of the positions and
the lag sa is calculated.
sax = xNoml - xActl sax
= lag for X axis
xNoml = nominal path value for X axis
xAct l = actual path value for X axis
➄ The lag is multiplied by the kv factor MP1810 and passed on to the drive amplifier as a nominal
velocity value (analog voltage).
vx= kv · sax vx = nominal velocity value for X axis
➅ If the axes are stopped, the integral factor MP1080 is effective as well. It causes an offset
adjustment (see section "Offset adjustment").
+
v x Actl
-