6.3.8.4.5 Scaling of the gain of the speed controller
The gain of the speed controller is also adapted as soon as values are entered into
object co37 inertia reduce fact.
Simultaneously with the values for co37 also the inertia dr32 + cs17 must be set to
the new max. values of the respective inertia.
There are 3 different modes, which depend on the parameterization co36 inertia
reducing mode / speed control reducing.
The smallest value in array co37 inertia reduce fact determines the
speed controller gain. The minimum value of the array is always
used as a weakening factor for the speed controller.
The interpolated factor for the respective position from the values of
co37 is taken as weakening factor for the speed controller
The interpolated factor for the respective position from the values of
co43 is taken as weakening factor for the speed controller
Another array is only available for scaling the speed controller with co43 speed
control reduce fact. The same values must be entered in co43 and in co37 for the
start. For optimization, separate adjustments can then be made for the speed con-
troller depending on the application.
When the homing function is active, speed control reducing mode 0 is always
used, i.e. the gain is always performed with the minimum value of array co37.
To Next Page
Loading...
Need help?
General
