UD70
Issue code: 70nu2
8-8 Features
_Q3% Internal speed reference
Units Encoder lines per second
Range –2
31
to 2
31
Default 0
Reset H = 0 S = 0 P = 0
_Q3% is the target speed for the slave, and is used as the input to the
profile generation block. The actual speed profile is modified by the ramp
rates (_Q12% and _Q13%) and ramp type (linear or S-ramp). The speed
profile is integrated to provide a continuously updated position reference to
the position control loop.
_Q4% Slave axis reference
Units Encoder lines
Range –2
31
to 2
31
Default -----
Reset H = S/V S = N/A P = 0
_Q4% is the final profiled position reference for the slave. The source of
this value can be from the slave position profiler, the slave speed profiler,
the digital lock controller or the cam table profiler, depending on the
settings in _Q32%.2, _Q32%.3 and_Q32%.4.
_Q5% Proportional gain
Units 0.1%
Range 0 to 2
31
Default 1000
Reset H = S/V S = N/A P = N/A
_Q5% defines the amount of proportional gain for the PID loop. For an
error of 1 count, and a gain of 1000, the output of the P term will be 1.
_Q6% Integral gain
Units 0.1% per second
Range 0 to 2
31
Default 0
Reset H = S/V S = N/A P = N/A
_Q6% defines the amount of integral gain for the PID loop. For a constant
error of 1 count, and a gain of 1000, the output of the I term will reach 1 after
1 second.
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