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December 2001
MP2500.0-8 Proportional factor of the speed controller for the axes
1 to 9
Input:
0 to 1 000 000.000 [As]
MP2510.0-8 Integral factor of the speed controller for axes 1 to 9
Input:
0 to 100 000 000 [A]
Module 9164 Reading the actual speed value of the motor
The resolution of the actual speed value depends on the encoder being used:
Resolution
Call:
PS
B/W/D/K <Axis>
0 to 8: Axes 1 to 9
15: Spindle
CM
9164
PL
B/W/D
<Actual speed value in the format 0.001 [rpm]>
Error recognition:
Marker
Value
Meaning
M4203
0
Actual speed value was read
1
Control has no integrated current controller
The step response illustrated above is idealized. In practice, interfering
oscillations are superimposed on the step response.
You can reduce these interference oscillations with the differential factor, the
PT
second-order time-delay element, the band rejection filter and the low-
2
pass filter of the speed controller.
The Control Loop
1
⋅
--------------------------------------------- 100 000 rpm
=
⋅
Line count 1024
[
]
6 – 135
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