Type 2: linear method
Description
The linear method (type 2) is selected by setting the P-AXIS-00172 parameter to the value 2.
The linear method is based on the theoretical position lag, which is calculated with the position formula:
At standstill, the P-AXIS-00169 defines the permissible position lag. For a moving axis, the low limit of the permissible position lag is set with the P-AXIS-00168 parameter. Above this limit, the permissible position lag is calculated as follows:
∆szul: calculated permissible position lag
Kv: gain factor of the position controller
vakt: current travel speed
The P-AXIS-00167 parameter describes a factor with which the dynamic component of the permissible position lag can be influenced.
Fig.4: Position lag monitoring type 2 - linear method | Recommended parameterization P-AXIS-00169 ≥ 5 · ∆sStandstil, l∆sStandstill: real position lag at standstill |