Controllers
Parameter manual
b maXX
BM5800
Document No.: 5.16029.03
Baumüller Nürnberg GmbH
422
3.7
3.7.1.9 Description of the Parameters
18.7
Adaptation time parameter
To prevent excitation, any change to the Gain parameters Kv (
) or Kp (
) when the position or speed controller is switched on is made in stages. I.e., during any
change to the controller parameter Kv and Kp, the newly entered value only becomes fully
effective after the time registered here [ms].
The step time is fixed at 50ms for this.
Example:
= 1950 ms
A change of Kp or Kv from the old value to the new one is performed in 39 steps
(1950 ms/50 ms).
18.9
Controller options
In particular, this parameter specifies variants of the acceleration feedforward of position-
controlled operating modes.
There are two main modes:
1. From the position controller and
2. in the speed controller from differentiation of the speed set value.
The first mode is divided into 3 sub-modes (1.a to 1.c). Refer to table Tabelle , “Feedfor-
ward modes in position controlled operating modes,” auf Seite 425.
Bit
Meaning
0
Selection of the encoder for position control
0: Position actual value of encoder 1, which is used for the motor control
1: Position actual value of encoder 2
A change of bit 0 is only effective at drive block and again enabling.
The bit is
only
relevant at single axis and mono devices with
two
encoder
inputs! It will be not evaluated at double axis units.
1
Main modes of the acceleration feedforward:
0: Mode 1: Feedforward from the position controller
(different modes accordant to 18.9 to 2 and 16).
1: Mode 2: In the speed controller from differentiation of the entire speed
set value
See Tabelle , “Feedforward modes in position controlled operating
modes,” auf Seite 425.
A change of bit 1 is only effective at drive block and again enabling.
2
1: External cyclic acceleration feedforward via
; effective only in
operating mode Position control (-4)
See Tabelle , “Feedforward modes in position controlled operating
modes,” auf Seite 425.
