Control Techniques Digitax ST Advanced User's Manual page 171

Parameter Keypad and
Parameter x.00
structure display
13.06 Position reference invert
Bit SP
Coding
1
Default 0
Update rate Background read
13.07 Ratio numerator
Bit SP
Coding
Range 0.000 to 4.000
Default 1.000
Update rate Background read
13.08 Ratio denominator
Bit SP
Coding
Range 0.000 to 1.000
Default 1.000
Update rate Background read
An exact ratio can be applied to the position reference with these two parameters. The ratio cannot be changed when the drive is enabled without
causing abrupt changes of position. Although it is possible to set up ratios with a high gain or even with a denominator of zero, the drive limits the
resultant gain of the ratio block to 4.000.
13.09 Position controller P gain
Bit SP
Coding
Range
0.00 to 100.00 rads
Default 25.00
Update rate Background read
The gain of the position controller is controlled with this parameter. The standard units within the drive for position are in 2
the standard units for speed are 0.1rpm, however the position controller gain is given in rads
-1 -1
mms /mm or ms /m often used for linear control applications. An error of 1 radian (10430 counts in the position error (Pr 13.02)) gives a speed
-1
reference of 1rads (9.5rpm) when this gain is 1.00.
13.10 Position controller mode
Bit SP
Coding
Range 0 to 6
Default 0
Update rate Background read
This parameter is used to set the position controller mode as shown in the following table.
Parameter
value
0 Position controller disabled
1 Rigid position control
2 Rigid position control
3 Non-rigid position control
4 Non-rigid position control
5 Orientation on stop
6 Orientation on stop and when drive enabled
Rigid position control
In rigid position control the position error is always accumulated. This means that, if for example, the slave shaft is slowed down due to excessive
Digitax ST Advanced User Guide
Issue Number: 1
Parameter
description format
FI DE Txt VM DP ND
FI DE Txt VM DP ND
3
FI DE Txt VM DP ND
3
FI DE Txt VM DP ND
2
-1
/rad
FI DE Txt VM DP ND
Mode
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Advanced parameter Serial comms
descriptions protocol
RA NC NV PT US RW BU
1
RA NC NV PT US RW BU
1
RA NC NV PT US RW BU
1
RA NC NV PT US RW BU
1
-1
/rad. These units are consistent with units such as
RA NC NV PT US RW BU
1 1
Feed forward
active
Electronic
Performance
nameplate
PS
1
PS
1 1
PS
1 1
PS
1 1
32
counts per revolution and
PS
1
Menu 13
171