Beckhoff AX5000 Series

Table of contents
Function description 5
Version: 1.5
19 Variable position interface......................................................................................................................83
19.1 Functionality from firmware v2.10................................................................................................. 83
19.1.1 Rotary feedback sample ..................................................................................................84
19.1.2 Linear feedback sample...................................................................................................84
20 Velocity - Controller Structure ...............................................................................................................85
20.1 Functionality from firmware v2.10................................................................................................. 85
20.1.1 Setpoint value calculation ................................................................................................86
20.1.2 Setpoint limiting................................................................................................................86
20.1.3 Velocity controller.............................................................................................................86
20.1.4 Determining the actual velocity value (differentiation) .....................................................86
20.1.5 Determining the actual velocity value (Velocity Observer)...............................................86
20.1.6 Control value limiter .........................................................................................................90
20.2 Functionality up to firmware v2.06 ................................................................................................ 91
20.2.1 Determining the actual velocity value (Velocity Observer)...............................................91
20.3 Parameter description................................................................................................................... 92
21 Axis deceleration ramps .........................................................................................................................93
22 Support and Service................................................................................................................................94