Controller

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Th. Reichel, A&D MC E55 Controller.doc Page 1 of 22

Workshop mold & die / 5-axis-millingThese script is not a start-up manual!!!

1. Optimisation of the control loops:

The following machine-data should be fixed before optimisation.

Computational resolution for linear positions (internal increments per millimetre):

10200 INT_INCR_PER_MM 100000.010210 INT_INCR_PER_DEG 100000.0

Fine interpolator type and drive interpolator:

33000 FIPO_TYPE 3 1004 CTRL_CONFIG 4096 (= 1000H = Bit 12)

Shift of setpoint transfer time of the position controller:

10082 CTRLOUT_LEAD_TIME 0.0 (makes the adaption of the FFW data easier)

Current controller adaption:

1183 CURRCTRL_ADAPT_ENABLE 0 1180 CURRCTRL_ADAPT_CURRENT_1 10.0 1181 CURRCTRL_ADAPT_CURRENT_2 100.0 1182 REDUCE_ARMATURE_INDUCTANCE 35.0

Lookahead and Buffer:

29000 LOOKAH_NUM_CHECKED_BLOCKS 10028060 MM_IPO_BUFFER_SIZE 10018360 MM_EXT_PROG_BUFFER_SIZE 5028070 MM_NUM_BLOCKS_IN_PREP 100

Path velocity data:

20490 IGNORE_OVL_FACTOR_FOR_ADIS 120170 COMPRESS_BLOCK_PATH_LIMIT 50.020602 CURV_EFFECT_ON_PATH_ACCEL 0.820603 CURV_EFFECT_ON_PATH_JERK 128530 MM_PATH_VELO_SEGMENTS 528520 MM_MAX_AXISPOLY_PER_BLOCK 328540 MM_ARCLENGTH_SEGMENTS 1011400 TRACE_SELECT 042470 CRIT_SPLINE_ANGLE 36.0

Then NCK-Reset.

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Current controller:

The following parameters are relevant:

1000 CURRCTRL_CYCLE_TIME (2) 62.5µs 1120 CURRCTRL_GAIN 25.0 1121 CURRCTRL_INTEGRATOR_TIME 2000.0 1183 CURRCTRL_ADAPT_ENABLE 0 1180 CURRCTRL_ADAPT_CURRENT_1 10.0 1181 CURRCTRL_ADAPT_CURRENT_2 100.0 1182 REDUCE_ARMATURE_INDUCTANCE 35.0

• Current control filters do not influence the measurements and therefore they must not be deactivated.

Normally the current control parameters are adjusted very well with the operation "Calculate control data" andneed not further be optimised. However, an inspection of the frequency response is always reasonable,particularly when little motors are used.

Example: Optimised current controller:

Speed controller:


-Dynamic (equivalent time constant) of the inner current control loop and therefore the MD who are relevant forthe current control loop.

and additional:

Controller and cycle data:

1001 SPEEDCTRL_CYCLE_TIME (4) 125µs 1004 CTRL_CONFIG 4096 (= 1000H = Bit 12)

1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0

1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1415 SPEEDCTRL_REF_MODEL_DAMPING 1.0

1421 SPEEDCTRL_INTEGRATOR_FEEDBK 0.0

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Current setpoint filter and speed setpoint filter:

1200 NUM_CURRENT_FILTERS 1 1201 CURRENT_FILTER_CONFIG E-------------------- ------ 1202 CURRENT_FILTER_1_FREQUENCY 2000.0 1203 CURRENT_FILTER_1_DAMPING 0.700000-------------------- ------ 1204 CURRENT_FILTER_2_FREQUENCY 0.0 1205 CURRENT_FILTER_2_DAMPING 1.0-------------------- ------ 1210 CURRENT_FILTER_1_SUPPR_FREQ 1400.0 1211 CURRENT_FILTER_1_BANDWIDTH 600.0 1212 CURRENT_FILTER_1_BW_NUM 0.0 1222 CURRENT_FILTER_1_BS_FREQ 100.0-------------------- ------ 1213 CURRENT_FILTER_2_SUPPR_FREQ 900.0 1214 CURRENT_FILTER_2_BANDWIDTH 200.0 1215 CURRENT_FILTER_2_BW_NUM 20.0 1223 CURRENT_FILTER_2_BS_FREQ 100.0-------------------- ------ 1216 CURRENT_FILTER_3_SUPPR_FREQ 1500.0 1217 CURRENT_FILTER_3_BANDWIDTH 600.0 1218 CURRENT_FILTER_3_BW_NUM 10.0 1224 CURRENT_FILTER_3_BS_FREQ 100.0-------------------- ------ 1219 CURRENT_FILTER_4_SUPPR_FREQ 261.0 1220 CURRENT_FILTER_4_BANDWIDTH 100.0 1221 CURRENT_FILTER_4_BW_NUM 30.0 1225 CURRENT_FILTER_4_BS_FREQ 100.0-------------------- ------ 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 2.400000 1508 SPEED_FILTER_2_FREQUENCY 2000.0 1509 SPEED_FILTER_2_DAMPING 0.700000-------------------- ------ 1514 SPEED_FILTER_1_SUPPR_FREQ 3500.0 1515 SPEED_FILTER_1_BANDWIDTH 500.0 1516 SPEED_FILTER_1_BW_NUMERATOR 0.0

Effectiveness of the Current setpoint filter and speed setpoint filter at low frequencies in dependence of thecycle time:

speed controller cycle time: Effectiveness of the band stop filt.: Effectiveness of the low pass

62.5 µs > 80 Hz >50 Hz

125 µs > 30 Hz >30 Hz

250 µs > 15 Hz > 15 Hz

• For optimisation and frequency response measurements of the speed control loop the speed setpoint filtermust be switched of. They have no influence on stability of the speed control loop but they have a biginfluence on measuring results.

1500 NUM_SPEED_FILTERS 0

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Optimisation of the speed control loop:

Overview of the measuring points for frequency responses

Frequency response of the Controlled System:

Do the frequency response of the controlled system for better estimation of the poles and zeros.

• Transfer function: actual speed motor / actual current motor

Advantage of these measuring: Poles and Zeros of the controlled system can be examined without anyinfluence of the controller. E.g. at linear motors: sometimes the motor makes a noise already with standard data.So the measuring result is very noisy and inapplicable.

Remedy: reduce speed controller gain - make frequency response of the controlled system - identify criticalpoles - place band stop filters - increase controller gain. Over a specific controller gain the frequency responseof the closed speed controller loop brings good results again.

TIP: For very clean and good frequency responses of the controlled system at lower frequencies it is veryhelpful to reduce the speed controller gain and increase the integrator time extremely.

Controller parameters for Controlled_System_0 (green): 1407 SPEEDCTRL_GAIN_1 0.1000001409 SPEEDCTRL_INTEGRATOR_TIME_1 300.0

Controller parameters for Controlled_System_1 (blue): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0

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Mechanical frequency response:

• Transfer function: actual speed direct measuring system / actual speed motor measuring system

Advantage of these measuring: Comprehensive classification of the performance of an axis at a glance. Ashigher the first pole of mechanic frequency response is (mostly natural frequency of the axis, locked rotorfrequency) as higher is the performance of the axis. The first pole limits the dynamic of the axis, normally themax. reachable Kv-factor, the acceleration and the max. acceptable jerk (jerk limitation).

Here: Natural frequency of the X-axis ≈ 30 Hz.

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Maximum allowed jerk in dependence of the natural frequency:

speed feedforward control : Max. Jerk [m/s³] at X_Delta = ...µ

0.1

1.0

10.0

100.0

1000.0

10000.0

1 10 100 1000

Natural frequency [Hz]

100 µ

10 µ

1 µ

Reference: Dr. Tröndle, A&D MC E55, Siemens AG

Max. reachable Kv-factor in dependence of the natural frequency:

Reachable KV-Factor:

0,1

1,0

10,0

100,0

1 10 100 1000 10000

Min. natural frequency / Hz

1 ms

2 ms

4 ms

Reference: Dr. Tröndle, A&D MC E55, Siemens AG

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Frequency response of the closed speed control loop:

Frequ_Resp_0 (green): 1407 SPEEDCTRL_GAIN_1 21409 SPEEDCTRL_INTEGRATOR_TIME_1 20.0

Frequ_Resp_1 (blue): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 20.0

Frequ_Resp_1 (green): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 20.0

Frequ_Resp_2 (blue): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0

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Reference model:

With the reference model different respond to setpoint changes or disturbance changes can be achieved.

Frequ_Resp_2 (green): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0

Frequ_Resp_3_Ref_Mod (blue): 1407 SPEEDCTRL_GAIN_1 5.500000

(with reference model) 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01414 SPEEDCTRL_REF_MODEL_FREQ 150.01415 SPEEDCTRL_REF_MODEL_DAMPING 1.0

Speed filter:

Speed filters do not help for stability in the closed speed control loop because they are outside in front of theclosed loop. They smooth the desired speed of the speed controller who comes from the position controller andcan stabilise the position controller.

Frequ_Resp_2 (green): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01500 NUM_SPEED_FILTERS 0

Frequ_Resp_5 (blue): 1407 SPEEDCTRL_GAIN_1 5.500000

(with speed filter) 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01414 SPEEDCTRL_REF_MODEL_FREQ 01415 SPEEDCTRL_REF_MODEL_DAMPING 1.01500 NUM_SPEED_FILTERS 21501 SPEED_FILTER_TYPE 2001503 SPEED_FILTER_2_TIME 6

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Longer integrator time of the speed controller:

Comparison of the speed control loop with long and short integrator time. A longer integrator time reduce thenoise reduction, this is remarkable particularly at the quadrant change (friction).

Frequ_Resp_6 (green): 1407 SPEEDCTRL_GAIN_1 5.500000

(longer integrator time) 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.01414 SPEEDCTRL_REF_MODEL_FREQ 01415 SPEEDCTRL_REF_MODEL_DAMPING 1.01500 NUM_SPEED_FILTERS 0

Frequ_Resp_2 (blue): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01500 NUM_SPEED_FILTERS 0

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Mechanic plus disturbance optimal speed controller loop as controlled system for the position controller withoutreference model

Frequ_Resp_2_250 (green): Closed speed controller loop up to 250 Hz1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0

Mechanic (blue): Mechanical frequency response

Mechanic plus disturbance optimal speed controller loop as controlled system for the position controller withreference model 150 Hz.

Frequ_Resp_3_Ref_250 (green): 1407 SPEEDCTRL_GAIN_1 5.500000

(with reference model) 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01414 SPEEDCTRL_REF_MODEL_FREQ 150.01415 SPEEDCTRL_REF_MODEL_DAMPING 1.0

Mechanic (blue): Mechanical frequency response

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Comparison closed speed controller loop up to 250 Hz with and without speed filter 6 ms

Frequ_Resp_2_250 (green): 1407 SPEEDCTRL_GAIN_1 5.51409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01500 NUM_SPEED_FILTERS 0

Frequ_Resp_4_SF (blue): 1407 SPEEDCTRL_GAIN_1 5.500000

(with speed filter) 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01414 SPEEDCTRL_REF_MODEL_FREQ 01500 NUM_SPEED_FILTERS 21501 SPEED_FILTER_TYPE 2001503 SPEED_FILTER_2_TIME 6

Position controller loop


-Dynamic (equivalent time constant) of the inner speed and current control loop and therefore the MD who arerelevant for the speed and the current control loop.

10050 SYSCLOCK_CYCLE_TIME 0.00100010060 POSCTRL_SYSCLOCK_TIME_RATIO 110082 CTRLOUT_LEAD_TIME 0.0----------------------------------- ------32640 STIFFNESS_CONTROL_ENABLE 032930 POSCTRL_OUT_FILTER_ENABLE 032940 POSCTRL_OUT_FILTER_TIME 0.032200 POSCTRL_GAIN 1.0----------------------------------- ------ 1500 NUM_SPEED_FILTERS 0 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 2.400000

The following MD have an influence to the result but they have no influence on the stability of the closedposition controller loop. Therefore they must be deactivated.

32620 FFW_MODE 032900 DYN_MATCH_ENABLE 032910 DYN_MATCH_TIME 0.00050032400 AX_JERK_ENABLE 032402 AX_JERK_MODE 232410 AX_JERK_TIME 0.030000

Before optimisation of the position controller the optimal IPO- and position controller cycle time must bemeasured out (10 000 block program) because the cycle times have an influence on the max. reachable Kv-factor.

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Optimisation position controller:

1. With disturbance optimal speed controller loop:

1407 SPEEDCTRL_GAIN_1 5.5000001409 SPEEDCTRL_INTEGRATOR_TIME_1 3.01414 SPEEDCTRL_REF_MODEL_FREQ 0.01500 NUM_SPEED_FILTERS 0

Clearly visible is the pole at ca. 30 Hz which was measured as lowest natural frequency in the mechanicalfrequency response too. It limits the max. reachable Kv-factor with disturbance optimal speed controller if noadditional actions are taken.

Pos_Control_1 (green): 32200 POSCTRL_GAIN 1.0

Pos_Control_2 (blue): 32200 POSCTRL_GAIN 2.0

With a reference model at 150 Hz the Amplitude at 30 Hz is reduced already in the speed control loop(Compare picture Frequ_Resp_3_Ref_250 with Frequ_Resp_2_250). With the same Kv-Factor as in the picturebefore some amplitude margin stands for disposal so the Kv-factor can be increased.

Pos_Control_4: 32200 POSCTRL_GAIN 2.0 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 150.0 1500 NUM_SPEED_FILTERS 0

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A similar effect can reached with the speed filters. However the time constant (MD 1503) should be not too big(ca. < 10 ms). If this time constant is too big, the sum of the little time constants can lead to a exorbitantadjustment of the position controller and this can lead to a bad positioning behaviour.

Besides big time constants in the speed filters have the negative effect that they filter the desired values toowho come from the feed forward control (because of their arrangement in the controller loop). The same

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damping effect can be reached alternative with the filter MD 32930 POSCTRL_OUT_FILTER_ENABLE and thecorresponding time constant MD 32940 POSCTRL_OUT_FILTER_TIME. These low pass has no effect on thefeed forward channel.

Pos_Control_5 32200 POSCTRL_GAIN 2.0 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 6.0

Pos_Control_9: 32200 POSCTRL_GAIN 3.0 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 6.032930 POSCTRL_OUT_FILTER_ENABLE 032940 POSCTRL_OUT_FILTER_TIME 0.0

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Pos_Control_10: 32200 POSCTRL_GAIN 3.800000 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 8.032930 POSCTRL_OUT_FILTER_ENABLE 032940 POSCTRL_OUT_FILTER_TIME 0.0

2. With a "more damping optimal" adapted speed controller

In the next picture the speed controller integrator time was increased to 10 ms. It can not yet be the speech froma damping optimal adaption, but it goes into this direction. If the mechanical characteristics of the axis allowthese adjustment (quadrant error, friction....) in this way can be reached the highest Kv-factors (compare picturePos_Control_2 and Pos_Control_3). These adjustment should not be used with software versions < 5 on millingmachines.


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Once again to compare:

Pos_Control_3 (green): 32200 POSCTRL_GAIN 2.0 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.0

Pos_Control_2 (blue): 32200 POSCTRL_GAIN 2.0 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0


The practice shows, that a absolute necessary requirement for a good surface and contour precision is a goodcircularity test. A "good" circularity test is - in dependence on the machine dynamic - a radius- and shapedeviation < 10 µm.

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With the numerous Functions of the 840 D it is nearly always possible to fulfil this criteria.

The easiest way to program the circle is as follows:

G91 ;IncrementalG17 ;X/Y-planeG02 I10 J0 F10000 TURN=1000 ;Radius 10 mm, 1000 repeatsM30

• In the practice a circularity test with Radius = 10 mm and F = 5 ... 10 m/min is useful.

Without any further effort the following circles can be reached in dependence of the described 3 optimisationmethods (Reference model, speed filter, long integrator time). All circles with Kv = 3.8 m/min/mm.

All Circles without Feed Forward Control!!

All circles in this document are made with 5000 mm/min = F5000 even if in the field ’feedrate" in the circularitytest is a different value!!!!!!

Data from picture Pos_Control_8 :

Radius 25 µm too small (mean R = 9.975)!

Reference model should be the same for each axis!

32200 POSCTRL_GAIN 3.800000 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 90.0 1500 NUM_SPEED_FILTERS 0

R = 10 mm, F5000!!Data from picture Pos_Control_10 :

Radius 22 µm too big (mean R = 10.22)

Speed filter should be the same for each axis!

32200 POSCTRL_GAIN 3.800000 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 8.0

R = 10 mm, F5000!!Data from picture Pos_Control_6 :

Radius 62 µm too small.

Integrator time can be a little bit different!

32200 POSCTRL_GAIN 3.800000 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 0

• Attention: Bigger Delta R because of longerintegrator time! R = 10 mm, F5000!!

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In all 3 Cases a good circularity shape can be reached. However the actual radius is very different to the desiredradius. Because the use of the speed filter leads to an expand of the radius, this filter can be combined with thetwo other methods to reach a good circle radius.

E.g. Combination of longer Integrator time and speedfilter to expand the radius:

32200 POSCTRL_GAIN 3.800000 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 5.800000

With this combination of longer Integrator time and speed filter the position controller loop can becomeunbalanced. Therefore the frequency response has to be checked again after the circularity test.

Pos_Control_11(green): 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.0(Radius o.k.) 1503 SPEED_FILTER_2_TIME 5.800000

Pos_Control_6(blue): 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.0(Radius too small) 1503 SPEED_FILTER_2_TIME 0

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Because the speed filter has a damping effect to the position controller, it is now possible to reduce theintegrator time a little bit. If the radius of the circle changes slightly, the speed filter has to be adjusted a little bitagain. So it is possible to get a very accurate Radius and a nearly perfect frequency response of the positioncontroller loop.

Pos_Control_12: 32200 POSCTRL_GAIN 3.800000 1407 SPEEDCTRL_GAIN_1 5.500000 1409 SPEEDCTRL_INTEGRATOR_TIME_1 5.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 1500 NUM_SPEED_FILTERS 2 1501 SPEED_FILTER_TYPE 200 1503 SPEED_FILTER_2_TIME 5.900000

Effect of different Parameters in interpolating Axis (all circles without feed forward control)

Axis 1 Axis 232200 POSCTRL_GAIN 3.8 3.80 1407 SPEEDCTRL_GAIN_1 5.5 5.0 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 0.0 1500 NUM_SPEED_FILTERS 2 2 1501 SPEED_FILTER_TYPE 200 200 1503 SPEED_FILTER_2_TIME 5.9 5.0


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Axis 1 Axis 232200 POSCTRL_GAIN 3.8 3.70 1407 SPEEDCTRL_GAIN_1 5.5 5.0 1409 SPEEDCTRL_INTEGRATOR_TIME_1 3.0 3.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 0.0 1500 NUM_SPEED_FILTERS 2 2 1501 SPEED_FILTER_TYPE 200 200 1503 SPEED_FILTER_2_TIME 5.9 5.932900 DYN_MATCH_ENABLE 1 132910 DYN_MATCH_TIME 0.0005 0.0

With the speed filter the equivalent time constant of the position controller loop did not change from the point ofview of the Interpolator. The speed filter lift only the amplitude of the position controller frequency response andtherefore the radius of the circle. With the Dynamic match time filter the equivalent time constant of the positioncontroller loop change, the phase relation changes, the circle changes to a ellipse or a ellipse will be correctedto a circle.

Driving Corners and Contour precision with pure position control:

G64

Axis 1 Axis 232200 POSCTRL_GAIN 3.80 3.80 1407 SPEEDCTRL_GAIN_1 5.50 5.0 1409 SPEEDCTRL_INTEGRATOR_TIME_1 10.0 10.0 1414 SPEEDCTRL_REF_MODEL_FREQ 0.0 0.0 1500 NUM_SPEED_FILTERS 0 0

Scale: 10 µm/div.

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G64


Scale: 10 µm/div.

G60


Scale: 10 µm/div.

G60


Scale: 10 µm/div.

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G64

Contour with corrected circle:


Scale: 20 µm/div.

Contour with not corrected circle:


Scale: 68 µm/div.

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