5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 103
5.6 Speed Control
Overview
The parameter set of the motor controller must be adapted for the application. In particular, the ampli
fication is strongly dependent on dimensions that may be connected to the motor. The data must be
optimally determined during commissioning of the system with the help of the parametrisation soft
ware.
Caution
Incorrect setting of the speed regulator parameters can result in strong vibrations and
possibly destroy parts of the system!
Description of the objects
Index Object Name Type Attr.
60F9
h
RECORD velocity_control_parameters rw
2073
h
VAR velocity_display_filter_time UINT32 rw
Object 60F9
h
: velocity_control_parameters
The data of the speed controller must be taken from the parametrisation software. The following calcu
lations must be observed:
Amplification of the speed regulator must be multiplied by 256.
With an amplification of 1.5 in the “Speed Regulator” menu of the parametrisation software, the
value384 = 180
h
must be written in the object velocity_control_gain.
The speed regulator time constant is specified in the parametrisation software in milliseconds. To trans
fer this time constant into the velocity_control_time object, it must previously be converted into micro
seconds. With a specified time of 2.0 milliseconds, the corresponding value 2000 is entered in the ob
ject velocity_control_time.
Index 60F9
h
Name velocity_control_parameter_set
Object Code RECORD
No. of Elements 3
Sub-Index 01
h
Description velocity_control_gain
Data Type UINT16
Access rw
PDO mapping no
Units 256 = Gain 1
Value Range 20 … 64*256 (16384)
Default Value 256
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