6.2.2 Machine parameter for the “linear characteristic” (Machine parameter 60 = 1)
Function ---pyG
KV-faktor for X
177
Y 178
Z
179
IV 180
The KV-factor (speed amplification)
jetermines the amount of lag (positional deviation) with a certain speed.
It is calculated as follows:
Possible
entry values
Preliminary
entry values
Optimised
entry values
KV = Rapid traverse[m/min]
lag Cm4
The KV-factor must be adapted to the machine.
If a high KV-factor is selected, the trailing error (lag) will be very small at a certain speed. If the lag is too small,
the axis carriage cannot be positioned exactly as required due to its inertia: the axis oscillates. It can also
happen that the position loop excites its own oscillation.
With a KV-factor which is too small, acceleration and positioning takes place too slo~w.
Multiplication
factor for
KV-factor
If the multiplication factor is programmed with “l”,
the KV-factor given in parameters 177 to 180 is also valid
beyond the lkinking point. With this entry, every axis must be examined to see that the predetermined nominal
positions are traversed over. If this is the case, MP 176 is decreased until precise positioning is accomplished.
Multiplication factor for K
V-factor and ramp kinking point
The ramp characteristic has a kink (see sketch)
100%
Kink-poinit MP 181
e.g. at 50 44
0%
The gradient of ramp 1 is determined by parameters 177
to 180. Machine parameter 176 is a multiplication factor
for parameters 177 to 180 and determines the gradient
of ramp 2.
The kinking point is determined by machine para-
meter 181. Entry is made in % in relationship to the
analogue voltage at rapid traverse (9 V).
The kinking point must be greater than the analogue
voltage for the highest feed rate.1 00 % analogue voltage
corresponds to rapid traverse.
Trai I ing erro’r super-
vision in trailing
operation
(Emergency
stop)
174
0 . 100 [mm]
50
(erasable)
175 O...lOO[mmj
30
52
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