103
AXOR Industries
Service Manual
NanoMack
®
ver.1 rev.11/'19
5.7 Position Loop
POSITION LOOP:
In "
Position Loop
"is possible modify the dynamic costants of the drive’s position loop:
• Position Filter
It is a filter on the position reference. It can be used, at low speed, to limit axis' vibration or to make
the system less noisy.
• Max Position Error
This is the position error after which the drive goes into alarm 14 ("Following Error").
• Kp Dynamic
This is the position loop gain. Suggested values: 1÷999.
• Kp Static
Set as Kp Dynamic.
• Numerator
This is the number of complete rotation of the axis with the number of pulse(denominator) received.
• Denominator
Number of pulses necessary to do the rotation setted in the numerator.
• Position Polarity
Positive or Negative. This parameter enables a complete inversion of axis control.
• Feed Forward
This improves the system’s dynamics. Suggested value: 100%.
