Parameters of dynamical kv-adjustment (P-AXIS-00245/P-AXIS-00246, P-AXIS-00247/P-AXIS-00248)
With active kv-adjustment position loop gain is altered linear between the values P-AXIS-00245 (kv1) and P-AXIS-00247 (kv2). In combination with the axis velocities P-AXIS-00246 (v1) and P-AXIS-00248 (v2) between the value pairs P-AXIS-00246/P-AXIS-00245 and P-AXIS-002448/P-AXIS-00247 a straight line is defined which is used to calculate the actual position control loop gain kv_act.
The following conditions for the parameters are active:
P-AXIS-00248 > P-AXIS-00246
For axis velocities < P-AXIS-00246 and > P-AXIS-00248:
kv_act_max = max(P-AXIS-00245, P-AXIS-00247)
kv_act_min = min(P-AXIS-00245, P-AXIS-00247)
Variable name | Type | Permissible range | Axis type | Dimension |
kv1 | UNS32 | 1 < kv1 < MAX(UNS32) | T, R | 0,01/s |
Variable name | Type | Permissible range | Axis type | Dimension |
kv2 | UNS32 | 1 < kv2 < MAX(UNS32) | T, R | 0,01/s |
Variable name | Type | Permissible range | Axis type | Dimension |
v1 | UNS32 | 0 < v1 < MAX(UNS32) | T | µm/s |
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|
| R | 0,001°/s |
Variable name | Type | Permissible range | Axis type | Dimension |
v2 | UNS32 | v1 < v2 < MAX(UNS32) | T | µm/s |
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| R | 0,001°/s |