Velocity Control Object
Parameter | Default value | Unit | Description |
|---|---|---|---|
Velocity Loop Type | Pl_VELOCITY_STANDSTILL | OFF Disables the Velocity Loop control PI_VELOCITY enables the velocity loop but only with Kp and Tn PI_VELOCITY_STANDSTILL enables the velocity loop with Kp and Kp_Standstill, Tn and Tn_Standstill. P_VELOCITY_STANDSTILL_AREA provides all 4 parameter sets Kp, Kp_Standstill, Kp_area, and Kp_area_standstill | |
Kp | 0.05 | As/rad | Proportional Gain used while no other gain is active. Never set below 0.03. Stiff track systems this can be as high as 0.1 |
Kp_standstill | 0.033 | As/rad | Proportional Gain used when standstill is enabled and the mover has had a command velocity of 0 for longer than SoftDriveStandStill.SwitchTime Never set below 0.01 |
Kp_area | 0.025 | As/rad | Proportional Gain used when Area control is enabled and when the axis is in the area defined by Control Area Never set below 0.01 |
Kp_area_standstill | 0.025 | As/rad | Proportional Gain used when Area control is enabled and when the axis is in the area defined by Control Area and the axis is at standstill. Never set below 0.01 |
Tn | 0.025 | S | Integral time constant |
Integral Resetting time or integration time. Integrates the difference between the command value and the actual value over the time specified by this parameter. Shorter times react faster longer times react slower. Never set above 0.1 (100ms) | |||
Tn_standstill | 0.05 | S | Integral time constant used when area control is enabled and the axis is at standstill. Never set above 0.1 (100ms) |
Tn_area | 0.05 | S | Integral time constant used when area control is enabled and the axis is in the area defined by the SoftDriveControlArea (shorter faster response, longer slower response) Never set above 0.1 (100ms) |
Tn_area_standstill | 0.05 | S | Integral time constant used when Area control is enabled and when the axis is in the area defined by Control Area and the axis is at standstill. Never set above 0.1 (100ms) |
Max Velocity | 4200.00 | Mm/s | Max Velocity of the mover Do Not Increase this value above 4200mm/s. This can be decreased but the value must be at least 5% larger than the maximum velocity commanded. |