Positioning module IMD20, IMD40
ACSetup programme
Velocity Controller dialogue box
The
c
setting of the PID velocity controller is carried out by analogy with the setting of the current
ontroller (see “Current Controller dialogue box”). Furthermore, there are the parameters
kd
portion according to the function: scan time of the D proportion = scan time of the
(differential amplification) and the related scan time
td
. The td factor affects the scan time of the
differential
controller x (1 + td). This value should only be set greater than 0 in case of heavy axes. An increase
of the td value by one corresponds to a duplication of the kd value.
Actually, the velocity controller is a position controller with the function to count the target position
with a constant rate. This rate corresponds to the actual target velocity. Due to this principle, the
Following limitation
is a further parameter to take into account. Since, if the motor cannot follow its
target position, a very great deviation would be the result, which would have to be caught up with a
higher speed.
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