DIGIVEX Little Drive Servoamplifier
58
PVD 3530 GB 01/2005
6. SERVO-CONTROL PARAMETER
FUNCTION AND SETTING
6.1 Servocontrol Parameter Functions
6.1.1 List of parameters
Choice of regulation type:
Speed Proportional: P
⇒
Proportional integral: PI
⇒
Proportional double integral: PI
2
Current regulation
In all cases
Minimum value
Maximum value
•
Filtering frequency
20 Hz
800 Hz
•
Offset
- 3,4% V max.
3,4% V max.
•
Current limitation
0 A
I pulse - drive
For speed regulation (P, PI, PI²)
•
Maximum speed
100 rpm/min
100 000 rpm /min
•
Speed for 1 V
10 rpm /min
14150 rpm /min
•
Proportional gain
I pulse - drive /156
I pulse - drive x 210
•
Integration stop
0,1 Hz
100 Hz
•
Predictors (gravity, dry or dynamic friction, acceleration).
6.1.2 Regulation selection: current, proportional, PI, PI²
Current regulation
Choosing "current" means current can be controlled directly (therefore the motor torque through
the torque coefficient Kt). This then gives 10 V = pulse peak current of the drive selected
beforehand.
In this mode, PI/PI
2
settings and predictors are neutralized. The only functions operative are:
Current limitation (often reduced below the permanent drive current, so as not to trip in mean or
rms values.
The second order low pass filter (filtering frequency), for reducing the effect of any resonance.
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