Inovance SV820N Series - Page 154

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6 Trial Running
6
b)PIDtypeofcontrolloop:
Positionloop:Drive
Speedloop:Drive Drive:Positionmode Position Controller P
Positionloop:TWinCATNC
Speedloop:Drive Drive:Velocitymode Position Controller PID (With Ka)
Note
The TWinCAT NC controller can also implement the speed loop, and sends the target torque
tothedriveineachcycle.Thismethodhowever,actuallyincreasestheCPUandnetworkload,
and is not recommended.
c) Set the control parameters.
Adjusttheproportionofthepositionloopbasedonactualresponse:
Adjustthespeedfeedforwardcoefcientbasedonactualresponse: