Baumuller b maXX BM2500, Руководство по эксплуатации

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Controllers
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
454
of 820
4.7
The parameter must not be confused with the Actual Operating Mode parameter
Z
109.2
–
!
18.7
Adaptation time parameter
To prevent excitation, any change to the Gain parameters Kv (
Z
18.14
–
) or Kp (
Z
18.24
–
) when the position or speed controller is switched on is made in stages. I.e., during any
change to the controller parameter Kv and Kp, the newly entered value only becomes fully
effective after the time registered here [ms].

The step time is fixed at 50ms for this.
Example:
Z
18.7
–
= 1950 ms
A change of Kp or Kv from the old value to the new one is performed in 39 steps
(1950ms/50ms).
18.9
Controller options
Value Meaning Remark Examples of Drive Operating Mode
(
Z
109.1
–
)
10 Measure Notch position search (-1)

Autotuning (-7)
11 Reserved
12 Absolute position con-
trol Controller structure,
Z
Fig.
143
–
on page 444
Target position setting (1)

Reference run (6)
13 Speed control Controller structure,
Z
Fig.
142
–
on page 443
Speed control (-3)

Speed setting 1 (2)
14 Torque control Controller structure,
Z
Fig.
145
–
on page 445
Current Control (-2)
15 Reserved
16 Synchronous operation Controller structure,
Z
Fig.
146
–
on page 446
Synchronous Operation (-5)
Bit Meaning
0 Reserved
1 Calculation of the acceleration feedforward for position controlled operat-
ing modes
0: from the set value of the speed feedforward
1: from the total speed set value
A change of bit 1 is only effective at drive block and again enabling.
2 1: External cyclic acceleration feedforward via
Z
111.8
–
; effective only in
operating mode Position control (-4)
3 1: External cyclic speed feedforward via
Z
111.7
–
; effective only in operat-
ing mode Position control (-4)