Servo control
4.4 Speed controller
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
93
Speed controller adaptation
There are two types of adaptation available: The free K
p_n
adaptation and the speed-
dependent K
p_n
/T
n_n
adaptation.
Free K
p_n
adaptation is also active in "operation without encoder" mode and is used in
"operation with encoder" mode as an additional factor for speed-dependent K
p_n
adaptation.
Speed-dependent K
p_n
/T
n_n
adaptation is only active in "operation with encoder" mode and
also affects the T
n_n
value.
Figure 4-4 Free K
p_n
adaptation
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