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6.2.3.1. Analog parameters
Velocity
The maximum speed is set in this register, in rpm. The speed is monitored by the encoder speed (0 –
10000 rpm). Should there be gearing between the motor and the encoder this has to be considered
in the calculations.
EXAMPLE!
Demanded motor speed rpm = 3000
Gearing ratio i = 10
V = RPM/i = 3000/10 = 300
Edge multiplier and impulse multiplication factor has not to be considered.
Acceleration
The acceleration during positioning in revolutions per second squared is set in this parameter.
P-portion
Proportional amplification: setting 1.....3000
General:
The P-controller exclusively consists of a proportional portion and has thereby its characteristics. In
principle the p term multiplies the input value by a coefficient.
P40:
By offset the difference between the demand and actual value is multiplied by the entered value and
shown as power-sharing. The bigger the proportional amplification the more sensitive the control
loop will be (possibly even unstable).
I-portion / I-Limit
Integral step: setting 1....1000
General:
An I-controller (integrating controller) provides the control value through timed integration of the
offset taking the reset time into account. A continuing offset leads to further increase of the analog
output. The reset time determines how big the temporal influence is. The maximum reset time is
limited by I-limit. The step response of the I-portion is a linear increase. That means for a constant
offset the integral will be increased and thus reinforces the I-portion.
P40:
By offset the analog control voltage will continue to increase step by step until there is zero
difference between demand and actual position and the entered I-limit in this register is reached
respectively. The greater the I-portion, the slower is the response.
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Configuration and Functions
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