Parameterizing the controller
Kv factors
In the NC two proportional factors Kv can be set under "Axis 1_Ctrl " in tab "Parameter". First select the position controller Type with two P constants (with Ka) under the “NC Controller” tab. The two P constants are for the Standstill range and for the Moving range (see Fig. "Setting the proportional factor Kv"). The factors can be used to set the start-up torque and the braking torque to a different value than the drive torque. The threshold value can be set directly below (Position control: Velocity threshold V dyn) between 0.0 (0%) and 1.0 (100%). Fig. "Velocity ramp with K factor limit values" shows a speed ramp with thresholds of 30%. The Kv factor for Standstill (t1 and t3) can be different than the Kv factor for Moving (t2). In this case the same factor was used, since for stepper motors this function is less crucial than for DC motors.
Position lag monitoring
The position lag monitoring function checks whether the current position lag of an axis has exceeded the limit value. The position lag is the difference between the set value (control value) and the actual value reported back. If the parameters of EP7047-1032 are set inadequately, the position lag monitoring function may report an error when the axis is moved. During commissioning it may therefore be advisable to increase the limits of the Position lag monitoring slightly.
Setting the position lag monitoring parameters too high may result in damage to equipment, machines and peripheral components.
Dead band for position errors
Microstepping can be used to target 200 * 64 = 12800 positions. Since the encoder can only scan 1024 * 4 = 4096 positions, positions between two encoder scan points may not be picked up correctly, in which case the controller will control around this position The dead band for position errors is a tolerance range within which the position is regarded as reached (Fig. "Dead band for position errors").
