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5
Glossary of terms
f
B
=
The frequency corresponding to the
–3dB point
K
A
=
Acceleration feedback gain
K
A(X)
=
Acceleration feedback gain for the “X” axis
K
A(Y)
=
Acceleration feedback gain for the “Y” axis
K
A(Z)
=
Acceleration feedback gain for the “Z” axis
K
di
=
Dynamic integrator gain
K
di(X)
=
Dynamic integrator gain for the “X” axis
K
di(Y)
=
Dynamic integrator gain for the “Y” axis
K
di(Z)
=
Dynamic integrator gain for the “Z” axis
K
P
=
Proportional gain (V/mm of error)
K
P1
=
Initial value of
K
P
used at the start of the tuning process
K
P2
=
Uncompensated gain – final value of
K
P
obtained before applying the acceleration
feedback or dynamic integrator terms
K
P3
=
Final value of
K
P
obtained after acceleration feedback but before applying the
dynamic integrator term
K
P4
=
Final value of
K
P
necessary to produce the required positioning accuracy with the
dynamic integrator applied
K
V
=
Velocity gain (mm/s/V)
This value will have been used when setting the servo power amplifier sensitivity
control
P
E
=
Positioning accuracy before the dynamic integrator
P
R
=
Required positioning accuracy
T
a1
=
“Lead” filter constant
T
a2
=
“Lag” filter constant
K
vffx
=
X axis Velocity Feed-forward gain
K
vffy
=
Y axis Velocity Feed-forward gain
K
vffz
=
Z axis Velocity Feed-forward gain
