July 2010 1 – 649
The following error is multiplied by the k
v
factor and passed on as nominal velocity value:
v
noml
= k
v
· s
a
v
noml
= nominal velocity value
k
v
factor during
control with
following error
The control loop gain, known as the k
v
factor, defines the amplification of the position control
loop.
The k
V
factor is defined by the machine tool builder.
For axes that are interpolated with each other, the k
v
factors must be equal to prevent contour
deviations.
Interrelation of k
v
factor, feed rate,
and following error
The following formula shows the interrelation of k
v
factor, feed rate, and following error:
or
k
v
= loop gain [(m/min)/mm]
v
e
= rapid traverse [m/min]
s
a
= following error [mm]
Control-loop parameter may only be changed by the machine manufacturer or after
consultation with the machine manufacturer!
An increase of the k
v
factor could lead to damage or injury of property or persons!
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