num parameter manual - Documentation CN

6.6 Servo-System Loop Gain Coefficient P21
6 - 14 en-938818/7
Category Servo-control
Type 4 Unsigned decimal
No. of words 32
Description
Defines the coefficient used by the CNC to calculate the reference supplied to the servo-drive according to the following
error.
Principle
Each word corresponds to the physical address of an axis:
- the value in word N0 is assigned to the axis with physical address 0,
- the value in word N1 is assigned to the axis with physical address 1,
- the value in word N2 is assigned to the axis with physical address 2,
- etc.
The value of each word gives the proportional action coefficient applied to the following error on the axis concerned
to obtain the speed reference.
KVAR Calculation
The CNC function generates a theoretical speed reference voltage of 10 V maximum. This voltage is provided by a
DAC on an axis encoder card. Generally, the servo-drives are set so that the axis speed is obtained for a servo-drive
input voltage of 9 V.
The 15-bit DAC of the axis encoder card provides an output voltage of 10 V for 32768 DAC points. The output is
9 V for 29491 DAC points.
10 Volts
9 Volts
Speed reference voltage
Speed reference
(in DAC points)
29491
32768