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Limiting the
integral factor
December 2001
For calculation of the acceleration feedforward, the integral-action component
of the nominal current value INTEG. RPM is recorded with the internal
oscilloscope. The actual speed value V (ACT RPM) and nominal current value
I NOMINAL are also recorded for better illustration.
I (N INT) [A] t [s] 60 [s/min] MP2020.x [mm]
--------------------------------------------------------------------------------------------
MP2600.x
=
I (N INT) = integral-action component of the nominal current value
t = acceleration time in which I (N INT) remains constant
∆V (ACTUAL RPM) = actual speed value during change
MP2020.x = traverse distance per motor revolution
MP2600.0-8 Acceleration feedforward for axes 1 to 9
Input:
0 to 30.000 [A/(rev/s
In machines with a great deal of stiction, a high integral-action component can
accumulate if there is a position error at standstill. This can result in a jump in
position when the axis begins moving. In such cases you can limit the integral-
action component of the speed controller:
7 7 7 7
Enter a limit in MP2512.x. Realistic input values: 0.1 to 2.0
MP2512.0-8 Limiting the integral-action component of the speed
controller for axes 1 to 9
Input:
0.000 to 30.000 [s]
The Control Loop
⋅
⋅
⋅
∆V (N IST) [mm/min]
2
)]
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