B.7.3 Description Of The Controller Factors For Force Control - Festo CPX Series Manual

B. Basic controlling principles

B.7.3 Description of the controller factors for force control

Amplification gain
Dynamic amplification
B−32
The amplification gain is used to increase or reduce the con
trol amplification.
It makes the controller respond to deviations more slowly
or faster. The time up to reaching the static final value
can be optimised.
The amplification gain is used to influence path accuracy
over the entire force record.
If this factor is increased too much, the valve starts to
hum. This occurs especially with a static force setpoint
and with standstill control.
Behaviour of the axis
Force builds up too slowly, the static accuracy is
reached only hesitantly.
Overswing occurs during force build−up. The valve
tends to hum.
The force value follows the setpoint value with few
deviations.
Dynamic amplification is only effective in the area of the
force ramp, in other words when the force setpoint changes.
It can be used to influence the path accuracy during the
force ramp.
A modification does not affect the static accuracy.
Behaviour of the axis
During force build−up the actual value cannot follow
the setpoint value.
During force build−up the actual value runs ahead of
the setpoint value.
The force build−up is performed fast and accurately.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Factor
Increase
Reduce
Optimal
Factor
Increase
Reduce
Optimal