num parameter manual - Documentation CN

6.7 Servo-Loop Time Constant P56
Description
Defines the position servo-loop time constant.
6 - 18 en-938818/7
Category Servo-control
Type 5 Unsigned decimal
No. of words 8
Principle
Each word corresponds to an axis group:
- word N0 for axis group 1,
- word N1 for axis group 2,
- etc.
The value is in ms with a basic value of 60 ms.
This parameter is used for dynamic movement control and speed control at the end of a block.
The time constant is defined by the following equation:
Where:
- Τ is in s,
- Εp is in mm or degrees,
- VIT is in mm/s or deg/s.
Τ = 1/ Gain = Εp /VIT
Example
For group 1, the axis position servo-loop gain is 1 for a speed of 1 m/min (16.66 mm/s) and the following error is 1 mm.
Τ = 1/16.66 = 0.06 s, i.e. 60 ms
Word N0 60
REMARK: The time constant defined this way is used for axes whose time constant was
not specified in machine parameter P66, i.e. for which the corresponding word
in P66 is set to 0.