Torque and Acceleration Scaling

This parameter group generates an optional acceleration as servo control to intervene before a lag error occurs. It can, for example, define a torque value.

Input Scaling Factor (Actual Torque)

Torque and Acceleration Scaling 1:

Torque and Acceleration Scaling 2:

Torque and Acceleration Scaling 3:

The gain factor for the optional servo control.

Input P-T1 Filter Time (Actual Torque)

Torque and Acceleration Scaling 4:

Torque and Acceleration Scaling 5:

Torque and Acceleration Scaling 6:

Time for the P-T1 filter. This time comes as input to the P-T1 filter.

Input P-T1 Filter (Actual Torque Derivative)

Torque and Acceleration Scaling 7:

Torque and Acceleration Scaling 8:

Torque and Acceleration Scaling 9:

Derivative of the actual torque to be scaled. This derivative comes as input to the P-T1 filter.

See section PT1 Filter for further information on the PT1 filter.

Output Scaling Factor (Torque)

Torque and Acceleration Scaling 10:

Torque and Acceleration Scaling 11:

Torque and Acceleration Scaling 12:

Sometimes an optional output scaling for the torque is necessary.

Output Delay (Torque)

Torque and Acceleration Scaling 13:

Torque and Acceleration Scaling 14:

Torque and Acceleration Scaling 15:

The output of the torque value can be delayed by the time Output Delay (Torque).

Output Scaling Factor (Acceleration)

Torque and Acceleration Scaling 16:

Torque and Acceleration Scaling 17:

Torque and Acceleration Scaling 18:

Sometimes an optional output scaling is necessary for acceleration. (e.g. for the NC acceleration pre-control. Further information about acceleration pre-control can be found in the section Acceleration Feedforward.)

Output Delay (Acceleration)

Torque and Acceleration Scaling 19:

Torque and Acceleration Scaling 20:

Torque and Acceleration Scaling 21:

The output of the acceleration value can be delayed by the time Output Delay (Acceleration).