AMCI SV160E2, User Manual, Page: 53 / 120

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SV160E2 User Manual
C
ONFIGURATION
M
ODE
D
ATA
F
ORMAT
53
Write Data Blocks (continued)
Block 6: Position Control Loop Configuration Block
Figure 00.1 Velocity Control Loop Configuration Block
The table below shows reasonable defaults to use for position control loop values. These values are based on
how closely the SV160E2 must track the position. This is often referred to as the shaft’s “stiffness”. As the
stiffness is increased, the SV160E2 will react faster to small positional errors. This results in better positional
tracking, but may result in more ringing in response to a position change and motor shaft jitter while at rest.
Table R5.7 Velocity Loop Values
Block 15: Save Configuration To Flash Block
Figure R5.7 Save Configuration to Flash Block
This command block will also save any calculated position offsets from a preset command or
homing operation.
KP_POS KI_POS KD_POS
Sh
af
t S
tiff
n
es
s
Inc
re
asing S
tif
fness
<=
====
===
==
728 54 0
874 78 0
1092 121 0
1456 216 0
2185 485 0
4369 1942 0
6554 4369 0
Word 3
Word 4
Word 5
Word 6
Word 0
Word 1
Word 2
Words 7-9
Position Configuration Block
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Words 1-9
Word 0
Save Configuration to Flash Block
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00