Installation manual
CNC 8035
4.
MACHINE PARAMETERS
Spindle parameters
(SOFT M: V15.3X)
(S
OFT T: V16.3X)
·148·
DERGAIN (P24)
The CNC takes this parameter into account when operating in closed loop (M19).
Indicates the value of the derivative gain. Its value represents the analog command (in millivolts)
corresponding to a change in following error of 1mm (0.03937 inches) in 10 milliseconds.
This velocity command will be added to the one calculated for the proportional gain.
It is a good idea to also use the acc./dec. a.m.p. ACCTIME2 (P18) for this axis (with a value other
than "0") if this gain is to be applied.
FFGAIN (P25)
The CNC takes this parameter into account when operating in closed loop (M19).
Indicates the % of velocity command due to the programmed speed. The rest will depend upon the
following error; both the proportional and derivative gains will be applied onto this following error.
The feed-forward gain improves the position loop minimizing the following error, but it should only
be used when working with acceleration/deceleration.
Usually, a value between 40% and 80% is assigned depending mainly on the type of machine and
its characteristics.
Example:
s.m.p. MAXGEAR1 (P2) = 500 rev/min. The desired speed for a 1 degree of following error is S
= 1000°/min (2.778 rev/rpm).
Command from the drive: 9.5V for 500 rpm
Velocity command corresponding to S = 1000 º/min. (2.778 rpm)
Velocity command = (9.5/500) x 2,778 = 52.778 mV
Therefore "PROGAIN" = 53
Possible values
Integer numbers between 0 and 65535.
Default value: 0 (derivative gain not applied)
PROGAIN
DERGAIN
10 t
------------------------------------+
=
Possible values
Integer numbers between 0 and 100.
Default value: 0 (feed-forward gain not applied)
PROGAIN
·
DERGAIN
10 t
------------------------------------
FFGAIN Fprog MAXVOLT
100 G00FEED
-----------------------------------------------------------------------------------++
=
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