Festo CMMT-ST-SW, Original Instructions Manual

Page: 347 / 616

Name Parameters ID Px.
M_refM_ref Setpoint value torque 2220
v_kp Velocity controller amplification gain 224
v_ki Velocity controller integration constant 225
v_act Actual velocity value 1210
v_diff Velocity control error 2215
v_ref Setpoint value velocity controller 2216
–LIM1 Minimum torque 2218
+LIM1 Maximum torque 2219
LIM2 Maximum torque symmetrical) 526796
Tab. 349 Legend for the block diagram of the velocity controller
Recommendation: Before changing controller parameters, check the signal of the encoder. If required,
optimise signal noises using a suitable filter time constant.
Parameters and diagnostic messages
ID Px. Parameters Description
Specifies the amplification gain for the PI-element in the velocity
controller.
Access read/write
Update effective immediately
224 Velocity controller
amplification gain
Unit −
Specifies the integration constant for the PI-element in the velo-
city controller.
Access read/write
Update effective immediately
225 Velocity controller
integration constant
Unit −
Specifies the velocity measured by the primary encoder.
Access read/−
Update effective immediately
1210 Actual velocity value
Unit user defined
Control
347 Festo — CMMT-ST-SW — 2019-02