Other Settings

Controller Mode

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‘STANDARD’: Currently only controller mode ‘STANDARD’ can be selected.

Auto Offset

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The Auto-Offset parameters only influence the behavior of the P-controller and the PP-controller. For the activation of

and

the parameter Auto Offset must be set to TRUE.

The Auto Offset parameters are intended for an analog axis interface. A real axis may not be completely stopped at zero set velocity, but may drift slightly. This drift behavior may be due to offset problems, temperature problems or other reasons. The Auto-Offset is intended to act as an adaptive and automatic offset coordination to compensate for slight drifts and thereby prevent the axis from drifting further. For digital interfaces, the Auto-Offset has no effect.

Automatic offset adjustment calculates and activates a DAC offset that minimizes the following error in position control.
See section Automatic DAC offset adjustment.

Offset Timer

The offset timer has a similar effect as an I part for the control.

Offset Limit (of Calibration Velocity)

For a P-controller or for a PP-controller in the interval [- Offset limit ... + Offset limit] the offset is adjusted automatically. A relative control. At a limit, the offset remains constant and does not go beyond it.

Slave coupling control: Proportional Factor Kcp

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This parameter only influences the control loop in TwinCAT NC. The proportional factor Kcp of the slave coupling differential control is the gain factor for an additional P controller. This P controller attempts to minimize the difference of the master and slave following error to improve accuracy.

Controller Outputlimit [0.0 … 1.0]

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The output limit of the controller can be set in the interval [0.0 ... 1.0].