July 2013 6.8 The control loop 849
Module 9164 Read the actual speed value of the motor
The resolution of the actual speed value depends on the encoder being used:
Call:
Axis-specific: Dependence on MP4020 bit 14
CM 9164
PL
B/W/D
<Actual speed value in the format 0.001 [min–1]>
Error code:
The step response illustrated above is idealized. In practice, interfering
oscillations are superimposed on the step response.
You can reduce these interference oscillations with the differential factor, the
PT
2
second-order time-delay element, the band rejection filter and the low-
pass filter of the speed controller.
Marker Value Meaning
M4203 0 Actual speed value was read
1 Control has no integrated current controller
Resolution =
1
Line count · 1024
· 100 000 [min
-1
]
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