Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Name Description ID Px.
x_in, v_in, a_in Setpoint management output acceleration 292
Setpoint values for the cascade controller
Position setpoint value 90
Velocity setpoint value 91
x_out, v_out,
T_out
Setpoint value torque 94
t_x <- Time_x Inactive time position setpoint value (integer multiple of
the device-specific scanning time of the closed-loop con-
troller) 957
t_v <- Filter_v Time constant velocity setpoint value filter 958
t_a <- Filter_a Time constant acceleration setpoint value filter 959
Factor_v Amplification gain velocity feed forward control 967
Factor_T Amplification gain torque feed forward control 968
Offset Offset torque 969
Inertia Total inertia 973
Comp_F Setpoint value friction compensation
The parameter can be used, for example, to assess the
component of the feedforward control from the friction
compensation by means of measured data recording
(trace). 974
Comp_T Setpoint value inertia compensation
The parameter can be used, for example, to assess the
component of the feedforward control from the inertia com-
pensation by means of measured data recording (trace). 975
Node_v Support point velocity [rad/s] 976
Node_T Support point torque [Nm] 977
Tab. 373 Legend for the block diagram of pilot control
Certain parameters of the pilot control are not entered in user units, but in Nm or rad/s and their
respective diversions, for example. The conversion of the user unit to rad/s is carried automatically
by the device.
The inertia for the inertia compensation is stipulated in kgm² (Px.973) and the support points of the
table for the friction compensation Node_T (Px.976) in Nm and Node_v in rad/s (Px.977).
Control
374 Festo — CMMT-ST-SW — 2019-02