57
9.16
State Controller
The closed loop control system consists of a state
controller with observer.
Basic Settings
These settings consent a very easy and clearly arranged
controller configuration for most common applications.
Basic PAYLOAD
Additional payload on the linear motor in g. The weight
of the motor carriage slider is automatically taken into
consideration with the motor identification.
Or
Basic INERTIA
(
only for ROTAX® and Third Party Motors)
Adjustment of the external torque of inertia.
If a gear box is placed between the motor and the
load, you must adjust the external torque of inertia
according to the motor shaft. The gear transmission
ration needs to be squared.
e.g. With a gear transmission ratio of 20:1, we need to
reduce the external torque of inertia by a factor of 400.
For direct drive linear motors, it is important to set
the parameter for the moment of inertia of the
external payload (INERTIA), otherwise the linear
motor oscillates. Because there is a factor of 10-9,
there can be very large values. If so, please enter the
parameter in the corresponding field.
Calculation Example: The external payload is a
homogenous disc of 1.1kg and Ø200mm.
Formula is as following:
𝐽 =
1
2
𝑚 ⋅ 𝑟
2
= 5.5 ⋅ 10
−3
kgm
2
scaling factor with 10
9
results in a parameter value of
5‘500‘000
.
(Please refer to XENAX® Servocontroller/General files
for XENAX® Xvi/PARAMETERIZATION OF ROTATIVE.
zip
on
https://www.jennyscience.ch/en/products/download
Basic GAIN POS
Gain of position controller. This parameter must be
reduced when payload is increased.
The “Auto Gain” function
automatically proposes a value
Consult also the TUTORIAL Video
Tutorial 2: Initial XENAX® Xvi state controller setup
on our website. In this video you will see the basic
settings of the XENAX
®
Xvi servo controller for Jenny
Science linear motor slide.
