ID 442426.04 317WE KEEP THINGS MOVING
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15
Manual SD6
The torque/force value is formed at the output of the speed controller from two
components. The ratio of these components can be adjusted with C37:
• Direct output of PI speed controller (component corresponds to 100 % -
C37).
• Smoothed output of PI speed controller (component corresponds to C37).
For maximum dynamics set C37 = 0 %. This will eliminate any effect from the
reference value low pass with time constant C36. C37 can be increased up to
100 % to dampen vibrations.
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.
Current motor encoder speed.
The speed determined from the motor encoder specified in B26 and filtered
with the motor encoder speed low pass C34.
If the control mode in B20 does not require an encoder and no encoder is
parameterized in B26, the speed calculated from the motor model will be
displayed.
Currently active positive torque/force limit. The reference value for
consideration on the load side is C09, for consideration on the motor side B18.
Currently active negative torque/force limit in reference to B18. The reference
value for consideration on the load side is C09, for consideration on the motor
side B18.
C37 reference torque filter version 0
E07 ref speed for v controller version 0
E15 v-motor-encoder version 1
E65 actual positive T-max version 0
E66 actual negative T-max version 0
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