7 Additional settings
Digital encoders with a low line count as well as resolvers require a high time constant as,
otherwise, the quantisation of the actual speed value will be too rough and bit noise can be
heard if the gain of the speed controller is high.
Time constant
An excessive time constant in the speed filter leads to decreased stiffness. If the time
constant of digital encoders or resolvers is too small, noise will be produced.
Ensure to change the gain factor and time constant in small steps only.
7.6.4.4 Manual optimisation of the position controller
Parameters/Controller parameters/Position controller
The position controller calculates a resulting speed based on the difference between the
set position and actual position and transfers this speed value as a set value to the speed
controller. The various functions of the position controller are described in section 4.4.13
Configuration of the position controller on page 59. This chapter explains the gain
optimisation process.
If the position build-up takes too much time, the gain must be increased. If the speed
starts to fluctuate during the stopping process, the gain must be decreased.
Please note that overshoots are due to insufficient acceleration and deceleration time
values.
Product manual BL 4000-C Page 167 of 298
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