32-67 Maximum Tolerated Position Error
Range:
Function:
revolution. This corresponds to 1 encoder
rotation.
WARNING
UNINTENDED START
The motor can restart unintentionally if the value of this
parameter is higher than the acceptable position
deviation.
•
Ensure that the value of this parameter is lower
than the acceptable position deviation.
32-68 Reverse Behaviour for Slave
This parameter determines the behaviour while moving in
reverse (moving in a negative direction).
Option:
Function:
[0]
*
Reversing allowed.
–
[1]
Reversing only allowed
when the master is reversed.
–
[2]
Reversing blocked.
–
32-69 Sampling Time for PID Control
Range:
Function:
2
*
[1–
1000
ms]
Determines the sampling time of the position
control algorithm. For example, increase the value
of the factory settings as follows:
•
For very low pulse frequencies, such as 1–
2 qc per sampling time: At least 10–20 qc
per sampling time are required.
•
For very slow systems with a long dead
time: If 1 ms is used here for control, large
motors will vibrate.
NOTICE
This value has a direct effect on the feed-
forward calculation. For example, if the
value in this parameter is doubled, then the
effectiveness of parameter
32-65 Velocity
Feed-Forward
is halved.
32-70 Scan Time for Profile Generator
This parameter sets the sample time for the profile generator,
which is independent of the sample time for the PID controller.
For demanding background control tasks, the execution time of
the application programme may rise drastically. In such cases, the
profile generator scan time can be increased to 2. Values higher
than 2 ms provide hardly any benefits.
Option:
Function:
[1]
1 ms
–
[2]
*
2 ms
–
[3]
3 ms
–
[4]
4 ms
–
[5]
5 ms
–
32-71 Size of the Control Window (Activation)
Range:
Function:
0
*
[0 to
1073741823 qc]
The parameters
32-71 Size of the Control
Window (Activation)
and
32-72 Size of the
Control Window (Deactivation)
are used to
turn the position control within defined
areas (control windows) on and off.
Parameter
32-71 Size of the Control Window
(Activation)
indicates the size of the
window outside of which the control
should restart.
Control ON
Control OFF
Control ON
Deactivation
Size
Deactivation
Size
Activation
Size
Activation
Size
Target
Position 130BD767.10
Illustration 5.3 Size of the Control Window
32-72 Size of the Control Window (Deactivation)
Range:
Function:
0
*
[0 to 1073741823
qc]
Indicates the size of the window inside
of which the control is to be
deactivated until parameter
32-71 Size
of the Control Window (Activation)
is
reached again.
32-73 Integral Limit Filter Time
Range:
Function:
0
*
[–10000
to 10000]
Time in ms, which is used to increase or decrease
the integral limit of the position control loop up
to parameter
32-63 Limit Value for Integral Sum
.
The integral part of the PID position control loop
can be active all the time, just during a
movement, or just at standstill. The value of this
parameter determines this behaviour.
Using value 0 activates the integral part of the
PID position control loop all the time according
to parameter
32-62 Integral Factor
and the
limitation parameter
32-63 Limit Value for Integral
Sum
.
Using a value >0 activates the integral part of the
PID position control loop just during a motor
movement. If the motor is at standstill, the
integral part is reduced to 0. If the motor starts
to move, the integration limit is increased from 0
to the defined value in
32-63 Limit Value for
Integral Sum
within the period of time set in
parameter
32-73 Integral Limit Filter Time
. If the
motor stops again, the integral part is reduced
again by decreasing the limit to 0 within the
defined period.
This handling of the integral part can be an
advantage for synchronisation applications, where
Commissioning
Operating Instructions
MG33R302
Danfoss A/S © 04/2014 All rights reserved.
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