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POS-123-*-2030
5.6.3
V
0
(Loop gain setting)
Command
Parameters
Unit
Group
V0:i
x
i= A|B
x= 1… 400
s
-1
VMODE = NC
This parameter is specified in s
-1
(1/s).
In NC Mode normally the loop gain is specified rather than the deceleration stroke
8
.
The internal gain is calculated from this gain value together with the parameters VMAX and SYS_RANGE.
Calculation of the internal control gain
In NC Mode the following error at maximum speed is calculated by means of the loop gain. This following error
corresponds to the deceleration stroke with stroke-dependent deceleration. The conversion and therefore also
the correct data demands related to the closed loop control system are relatively simple if the relationship
described here is taken into account.
5.6.4
V0:RES (Scaling of the loop gain)
Command
Parameters
Unit
Group
V0:RES
x
x= 1|100
-
VMODE = NC
V0:RES = 1
loop gain in s
-1
(1/s) units.
V0:RES = 100 loop gain in 0,01 s
-1
units
9
.
The increased resolution should be used in case of V
0
< 4.
8
The loop gain is alternatively defined as a KV factor with the unit (m/min)/mm or as V
0
in 1/s. The conversion is
KV = V
0
/16,67.
9
In case of very low loop gains (1 s
-1
to 3 s
-1
) the better resolution of the adjustment should be selected.
i
Intern
i
D
STROKE
G
V
v
D
0
max
