Stober SD6 - Page 301

ID 442426.04 301WE KEEP THINGS MOVING
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Manual SD6
Proportional gain of the speed controller. With C31 = 100 % and a speed
deviation of 32 rpm, the static torque/force returns M
0
/F
0
as a reference value
to the current or torque/force controller.
Time constant of the I-part in the speed controller. A small integral action time
results in a high integration speed, thereby increasing the static rigidity of the
drive. A small integral action time can lead to overshoots in dynamic processes
in the target position. In this case C32 should be increased. When C32 is < 1
ms the I controller is deactivated.
With C31 = 100 % and a speed deviation of 32 rpm after an integral action time
of C32 the I-part of the speed controller returns the nominal motor torque/force
as a reference value for the current or torque/force controller.
Smoothing time constant for the measured motor speed.
C34 affects how smoothly the motor runs and also the dynamics that can be
achieved with the drive. As a general rule, the motor runs more smoothly and
dynamic decrease as C34 increases in value. In principle C34 should be set as
high as necessary to ensure the motor will run as smoothly as desired. The
minimum value of C34 depends primarily on the accuracy of the encoder that
is used.
The following table contains an approximate value for C34 for all STOBER
standard motors. This value may have to be adjusted down in some
circumstances depending on how smoothly the motor needs to run.
C31 proportional gain v-control version 0
C32 integral time v-ctrl version 0
C34 actual motor speed low pass version 0
Encoder type Single-turn resolution
(in bits)
C34
(recommendations)
ECN 1113 13 2,0
EQN 1125 13 2,0
EQN 1324-2048 13 2,0
ECI 1118 18 1,8
EQI 1130 18 1,8
ECI 1319 19 1,8
EQI 1329 17 1,8
EQI 1331 19 1,8
ECI 119 19 0,6
ECN 1123 23 0,4
EQN 1135 23 0,4
ECN 1325 25 0,3
EQN 1337 25 0,3
ECI 1118-G2 18 0,6
EBI 1135 18 1,8
Resolver 16 1,8
Incremental encoder 
(1024 incr./ revolution)
12 2,0
Incremental encoder 
(2048 incr. / revolution)
13 1,4
Incremental encoder
(4096 incr. / revolution)
14 0,8