Stober SD6 - Page 313

ID 442426.04 313WE KEEP THINGS MOVING
Optimize
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 speed as a limit for calculating reference value with the motion core.
The restriction does not apply with cyclically synchronous reference values
assigned in Controller Based mode.
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 preventing idle oscillations resulting from friction or reversal,
especially if an external position encoder is used.
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 %.
C33 lowpass reference speed version 0
E07 ref speed for v controller version 0
E161 v-rmpg version 0
I10 maximal speed version 1
Information
The limit is set without event 54:following error occurring.
Information
I10 multiplied by 1.111 is equivalent to the triggering limit for event
56:Overspeed.
I20 Kv-factor (proportional gain position control) version 0
I23 deadband position control version 0
Information
I23 deadband must be less than the positioning window I22,
otherwise the drive will not reach its target position.
I25 speed feedforward version 0