Siemens SIMATIC S5 Manual page 85

IP 266
The maximum Kv factor depends on
• the drive's design or dynamic response and
• the quality of the machine.
V
V
setp
a
b
t
0
a: Setpoint characteristic
b: Kv factor too high
c: Kv factor adequate
d: Kv factor too low
Figure 5-6. Control Response of the Position Controller in Dependence
on the Kv Factor
For best results, start with a very low initial value (1 to 2
subsequent optimization.
Maximum following error
The difference between the actual position and the setpoint position is called the
following error. A field is provided in the machine data for specification of the
maximum following error, which must be in the range from 0.001 to 99.999.
If the following error exceeds the specified value, the IP 266 aborts the
positioning operation and displays "Maximum following error exceeded" on the
programmer.
The position controller remains active. The axis does not come to a stop until the
following error has been brought back into range.
EWA 4NEB 812 6057-02
Machine Data, Modes and Traversing Programs
c
d
system oscillates
optimum controller initialization
controller too slow; setpoint is reached very slowly
t
1
/ ) as the basis for
s
5-13