Kuka KR C2 - I_Vel_Ptp[ ]; I_Vel_Cp[ ]

2 The file $MACHINE.DAT (continued)
45 of 91
Maschinendaten 12.0400 en
2.1.87 $I_VEL_PTP[ ]
I factor of the speed controller for PTP motions
Data type real
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$I_VEL_PTP[1]” is the integral--action factor of the speed controller for PTP motion.
The I component $I_VEL_PTP[ ] can be used to set the build--up speed of the controller
output in the event of a deviation from the command value. Generally, the I component
should be as small as possible, resulting in a fast rise. However, if the I component is too
small, this can render the control loop unstable; this results in poor positioning or causes the
drive to buzz loudly.
If the I factor of the controller is set too low, this cause vibrations.
Guide values: = 90 for small external motors
(typesC0,C,CS,D,E)
= 200 .. 500 for large external motors
(typesA01,A0,A,B,G1,I,I1,H,HS)
2.1.88 $I_VEL_CP[ ]
I factor of the speed controller for CP motion
Data type real
min
V
a
l
u
e
-- --
Unit []
V
a
l
ue
max
-- --
Assignment
[1] axis 1 ... [6] axis 6
[7] external axis 1 ... [12] external axis 6
“$I_VEL_CP[ ]” is the integral--action factor of the speed controller for CP motion.
The I component $I_VEL_CP[ ] can be used to set the build--up speed of the controller output
in the event of a deviation from the command value. Generally, the I component should be
as small as possible, resulting in a fast rise. However, if the I component is too small, this
can render the control loop unstable; this results in poor positioning or causes the drive to
buzz loudly.
If the I factor of the controller is set too low, this cause vibrations.
Guide values: = 90 for small external motors (types C, D, E)
= 200 .. 500 for large external motors (types B, A, A0)