January 2012 6.16 The Control Loop 853
6.16.9 Speed controller
The parameter object CfgSpeedControl is not required for:
Virtual axes (MP_axisMode=Virtual)
Axes that are for display only (MP_axisMode=Display)
Analog axes (MP_axisHw=Analog)
The actual speed values are measured directly at the motors with
HEIDENHAIN rotary encoders. The position controller provides the nominal
speed value. The speed controller is driven by the difference between nominal
and actual speed values. It provides the nominal current value as output.
Use Module 9164 to read the actual speed value of the motors.
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgSpeedControl
vCtrlPropGain
vCtrlIntGain
vCtrlDiffGain
400901
400902
400904
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