Commissioning
Fig.116: Adapting Tn
Proportional velocity controller component Kp
• Increase the value, until the motor starts to oscillate slightly. Then reduce the value by 80%.
Fig.117: Adapting Kp
6.2.3 Settings in the CoE register
(Master TwinCAT 2.11 R3)
The data given here serve as an example for a servomotor type AM8131-0F20-0001 from Beckhoff
Automation. For other motors the values may vary, depending on the application.
EL72x1-0010 93Version: 2.0
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