Baumuller b maXX BM5800 - Page 434

Controllers
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
434
of 814
3.7
18.61 Position error angle
Display of the position error in 32-bit integer format. 
The resolution is 32 bits per revolution.
18.62 Position error revolutions
Display of the position error in revolutions in 32 bit integer format. 
A 0 or -1 signifies no position error in the revolution.
18.68 Speed additional value
Additional speed set value.
Units: degrees/s
18.69 Speed set value output SetValMgr
Display of the speed set value from the set value manager in degrees/s.
With speed control:
Z18.21– w2 Speed set value total = Z18.69– Speed set value output SetValMgr +
+ Z18.68– Speed set value add
With absolute position control:
Z18.21– w2 Speed set value total = (Z18.69– Speed set value output SetValMgr * 
* Z18.15– w2-Feedforward factor) 
+ Z18.68– Speed set value add 
+ (Z18.13– e1 Position controller error *
* Z18.14– Kv position controller)
18.70 w2-Feedforward time constant
Time constant of the speed feedforward.
The speed feedforward is implemented as DT1 element. All changes to the position set
value are differentiated with respect to time, smoothed with the >18.70< feedforward time
constant and multiplied subsequently by the parameter
Z18.15– w2-Feedforward factor.
Due to minimize the position error e1, it is recommended that the w2-Feedforward time
constant is set to Time constant speed act. value filter
Z18.27–.
For synchronous operation on actual master axis (= encoder) the parameter for smooth-
ing the master axis set value (w2-feedforward part) can be used.