G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
363
Figure 7-3 Maximum speed setpoint
However, due to control processes, the axes should not reach their maximum velocity (MD32000
$MA_MAX_AX_VELO) at 100% of the speed setpoint, but at 80% to 95%.
In case of axes, whose maximum speed is attained at around 80% of the speed setpoint range, the default value
(80%) of the machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
.
7.4.5 Actual-value processing
Actual-value resolution
In order to be able to create a correctly closed position control loop, the control system must be informed of the
valid actual-value resolution. The following axis-specific machine data are used for the purpose, which are
partially specified from the drive (MD31000, 31010, 31020, 31025).
The control calculates the actual-value resolution from the settings made in the MD. The control parameter sets
of the position control are identified as servo parameter sets.
The machining process of the machine forms the basis of the position actual-value acquisition.
Depending on the type of axis (linear axis, rotary axis) and the type of actual-value acquisition (directly at the
machine, indirectly at the motor), the following machine data must be parameterized to calculate the actual-value
resolution:
Direct measuring system (DM) is on machine directly: Load-side encoder
Indirect measuring system (IM) is on motor indirectly: Motor-side encoder
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