U Page 31
Digital controller RK 4004
In this example a maximum positioning velocity of 15 mm/s or
20 mm/s has been assumed with a proportional range of 2 mm.
Given a maximum positioning velocity of 15 mm/s the positioning
velocity amounts to approx. 11 mm/s with a control deviation of
1.5 mm and approx. 15 mm/s with a maximum positioning velocity of
20 mm/s.
The values may also be calculated arithmetically:
Amplification (G) = parameter .1.6. / parameter .1.3.
Correction velocity (VK) = control deviation * amplification (G)
Example 1: Example 2:
G = 15/2 = 7.5
1
/
s
G = 20/2 = 10.0
1
/
s
VK = 1.5 mm * 7.5
1
/
s
VK = 1.5 mm * 10.0
1
/
s
VK = 11.25 mm/s VK = 15.0 mm/s
If the positioning velocity is too high the web guider will begin to oscil-
late.
The maximum positioning velocity must be set higher than the
maximum error velocity, yet must not exceed the nominal posi-
tioning velocity the DC actuator.
.1.7. velocity pos
The positioning velocity is determined in this parameter for the follo-
wing operating modes:
- actuator "center position"
- support beam "park sensor"
- support beam"search for edge"
The step width of the speed setting is 1 mm/s.
.1.8. velocity jog
The positioning velocity with which the actuator or support beam is
positioned in "manual" mode may be set in this parameter with a step
width of 1 mm/s.
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