DIGIVEX Little Drive Servoamplifier
73
PVD 3530 GB 01/2005
Remember that the value of tpr (prediction time) (in ms) is close to td (start up time) with:
td
=
torque
Max
max
.
inertia)
motor
+
inertia
(Load
ω
td is the acceleration time from 0 to maximum speed with maximum torque,
td in seconds, inertia in kgm2, max.
ω
in rd/s, torque in Nm
Setting the dynamic friction predictor. Once all the other predictors have been adjusted, increase
the dynamic predictor to minimize the P, PI, PI² output signal.
When the setting is correct, this output should be minimum and in phase with the input set point.
Input
reference
Time
Time
Minimum value
P, PI, PI=
Output
DIGPL43.D/50.W
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