Settings In The Coe Register - Beckhoff EL72 1-901 Series Manual

Commissioning
Fig. 153: Adapting Tn
Proportional velocity controller component Kp
• Increase the value, until the motor starts to oscillate slightly. Then reduce the value by 80%.
Fig. 154: Adapting Kp
5.3.3

Settings in the CoE register

(Master TwinCAT 2.11 R3)
The data given here serve as an example for a servomotor type AM8131-0F20-0001 from Beckhoff
Automation. For other motors the values may vary, depending on the application.
124 Version: 1.9 EL72x1-901x