• DOK-DIAX02-DDS02.1*ANA-ANW1-EN-E1,44 • 12.96
87
Velocity loop
proportional gain
"Kp
w
"
Velocity loop derivative/
proportional gain "K
DP
"
Velocity loop
integral reaction time
This parameter allows an acceleration dependent component to act on
the integral gain of the velocity control loop.
A time constant can be activated in the proportional component of the
velocity control loop to suppress the quantization effect and to limit the
band width of the velocity control loop.
If the smallest possible value of 250
µ
s is entered here, the filter is
rendered inactive.
Velocity loop
derivative/integral gain "K
DI
"
Smoothing time
constant "T
GL
"
This parameter sets the proportional gain of the velocity loop.
This parameter sets the derivative/differential gain of the velocity loop.
For the definition of the velocity loop integral reaction time, refer to Fig.
84.
This representation of the transition function of the PI controller assumes
a step change of the input signal "Ue" to a constant value and shows the
characteristic of the output signal Ua.
7. Commissioning the functions of the digital AC servo drive
Fig. 84: Transition function of the PI controller
ENA3A-Abb53.1/InbetrDDS
Ua (t)
t
Ue * K
P
Ue * K
P
T
n
T
N
= Velocity loop integral reaction time [ms]
K
P
= Velocity loop proportional gain [mA/rad/s]
h (t)
= Transition function
K
I
= Integral gain [A/rad]
U
a
= Output variable [ V ]
U
e
= Input variable [ V ]
Ue * K
P
T
N = ––––––
K
P
K
I
