Festo CMMP Series, Manual

Page: 86 / 210

6. Setting Parameters
86 Festo P.BE-CMMP-CO-SW-EN 0708NH
Object 2073
h
: velocity_display_filter_time
The object
velocity_display_filter_time
can be used to set the filter time of the velocity
display value filter.
Index
2073
h
Name
velocity_display_filter_time
Object code VAR
Data Type UINT32
Access rw
PDO Mapping no
Units μs
Value Range 1000 … 50000
Default Value 20000
Please remember that the object velocity_actual_value_filtered is
used for turn-through protection. In case of very large filter times, a
turn-through error is recognised only after a corresponding delay.
6.7 Position Controller (Position Control Function)
6.7.1 Overview
This chapter describes all parameters required for the position controller. The position
nominal value (
position_demand_value
) of the curve generator is applied to the input of
the position controller. In addition, the actual position value (
position_actual_value
) is
added by the angle transmitter (resolver, incremental transmitter, etc.). The actions of the
position controller can be influenced by parameters. It is possible to limit the output
variable (
control_effort
) to keep the position control circuit stable. The output variable is
supplied to the velocity controller as the speed command value. All input and output
variables of the position controller are converted in the
Factor Group
from the application-
specific units into the respective internal units of the regulator.
The following subfunctions are defined in this chapter:
1.
Following error (Following_Error)
The following error is the deviation of the position feedback value (
position_actual_
value
) from the position command value (
position_demand_value
). If this following
error is greater than specified in the following error window (
following_error_window
)
for a specific time period, bit 13
following_error
is set in the object
statusword
. The
permitted time period can be specified via the object
following_error_time_out
.