Velocity - Controller Structure
Function description 91
Version: 1.5
20.2 Functionality up to firmware v2.06
Note
Description of the function blocks
All firmware v2.06 function blocks that were not described specifically (lower diagram) are
identical to the function blocks of the block diagram for firmware v2.10.
This results in the following relationship for the velocity:
Parameter P-0-0519 contains the result of the differentiation of the position signal. It has the same units as
parameter S-0-0040. The origin of parameter S-0-0040 depends on the settings in parameter P-0-0514.
20.2.1 Determining the actual velocity value (Velocity Observer)
Functionality up to firmware v2.06
Up to firmware v2.06 there is a third-order Observer
("Basic mode").
Above the bandwidth the velocity signal calculated
from the position signal is attenuated with 20 dB per
decade.
The Observer operates with the cycle of the velocity
controller (default setting 8 kHz).
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