Appendix
Index table
10
149
KHB 13.0003-EN
2.0
Characteristics
Possible settings
Name
Index
Description
Selection
Lenze
6099
h
Homing_speeds
0 number_of_
supported_entries
00
h
{1
h
}
02
h
VAR
UINT8
RO
—
Maximally supported
subindices.
02
h
Three subindices are
supported.
1 speed_during_
search_for_switch
100
0
{1 rpm}
2
32
-1
VAR
UINT3
2
RW
MAP
Homing speed for reaching
the limit switch.
Usually, the drive then
reverses and the stop
position is approached at a
lower speed.
2 speed_during_
search_for_zero
100
0
{1 rpm}
2
32
-1
VAR
UINT3
2
RW
MAP
Determining the lower
speed
60F9
h
Velocity_control_
parameter_set
1 velocity_control_
gain
1920
0.01 × 128
{128}
100 × 128
VAR
UINT1
6
RW
—
Setting the speed
controller gain.
»fluxx« software:
K
p
= 1.5
Here:
15 × 128 = 1920
2 velocity_control_
time
10000
2000
{1
μ
s}
65500
VAR
UINT1
6
RW
—
Setting the time constant
T
n
of the speed controller.
»fluxx« software:
T
n
= 2 ms
Here: 2 ms = 2000
μ
s
3 velocity_control_
differential_time
6500
1
{1
μ
s}
30000
VAR
UINT1
6
RW
—
Setting the time constant
T
v
of the speed controller.
To increase the dynamic
performance for following
error or position control,
the speed setpoint
changes are differentiated
and the result is added to
the PI speed controller
output. Here, the time
constant of the differential
component can be set.
4 sampling_time
800
500
{1
μ
s}
5000
VAR
UINT1
6
RW
—
Setting the sample time
for the speed and position
controller.
