Stober SD6 - Page 298

ID 442426.04 298WE KEEP THINGS MOVING
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15
Manual SD6
Reference value smoothing. C33 should be increased in response to reference
value noise, vibrating mechanics or large extraneous weights.
Display of the current speed reference value (RV) in user units based on the
profile generator and the v-RV low pass. The total of the position controller
output and speedFeedFwd (=speed controller reference value) is displayed in
Position operating mode. E06 shows the same value in reference to the motor
shaft.
The speed reference value at the output of the profile generator. With position
control corresponds to the speed feed forward.
Maximum velocity as a limit for
• CiA 402 Homing mode: A587
• CiA 402 Jogging mode: I12
Triggering limit for event 56:Overspeed:
I10 x 1.111 > measured velocity.
The measured velocity is equivalent to I88.
From firmware 6.0-B: If the motor and position encoder are separated, I88 and
E91 x I240[1] are checked.
Position controller gain (P-response only). The Kv factor is also referred to as
the speed gain.
Occasionally it is also indicated with a unit of measure [m/min/mm]. This is
equivalent to exactly 0.06 · I20.
Dead zone of the position controller. Useful for avoiding idle oscillations
resulting from friction or reversal, especially if an external position encoder is
used.
Note that I23 deadband must be less than positioning window I22. Otherwise
the drive will not reach its target position.
Velocity feed forward of the position controller.
The calculated velocity profile is switched to the output of the position
controller.
Speed feed forward relieves the load on the position controller, thereby
reducing the following error.
When I25 = 100 %, the drive moves at a constant speed without a stationary
following error, but it does tend to overshoot at the target position. Because of
this, I25 in most application is in the range of 60 ... 95 %.
In addition to reducing I25, overshooting in the target position can also
alleviated by increasing C32 (time constant I-part).
C33 lowpass reference speed version 0
E07 ref speed for v controller version 0
E161 v-rmpg version 0
I10 maximal speed version 0
Information
The limit is set without event 54:following error occurring.
I20 Kv-factor (proportional gain position control) version 0
I23 deadband position control version 0
I25 speed feedforward version 0