Trio Motion Coordinator Euro 205, Техническое справочное руководство

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Motion Coordinator Technical Reference Manual
System Setup and Diagnostics 6-11
Setting Servo Gains
Output Velocity Gain
Description This increases the system damping, creating an output that is proportional to the
change in measured position.
Oov = Kov x DPm.
This parameter can be useful for smoothing motions but will generate high fol-
lowing errors. Note that a NEGATIVE OV_GAIN is required for damping.
Axis parameter is called
OV_GAIN
Syntax:
OV_GAIN=-5
Velocity Feed Forward Gain
Description As movement is created by following errors at high speed the following error can
be quite appreciable. To overcome this the Velocity Feed Forward creates an out-
put proportional to the change in demand position so creating movement without
the need for a following error.
Ov = Kvff x DPd
Axis parameter is called
VFF_GAIN
Syntax:
VFF_GAIN=10
The VFF_GAIN parameter can be set by minimising the following error at a con-
stant machine speed AFTER the other gains have been set.