num parameter manual - Documentation CN

6.17 Time Constant per Axis P66
6 - 40 en-938818/7
Category Servo-control
Type 5 Unsigned decimal
No. of words 32
Description
This parameter defines a position loop time constant for each axis.
This time constant is expressed in ms, with a basic time of 60 ms.
Principle
In earlier versions, machine parameter P56 was used to specify a common time constant for all the axes of a group.
With total speed anticipation, different time constants can be used on the axes in a group, corresponding to the optimum
settings.
The time constant per axis is used with total and partial speed anticipation, dynamic movement control and analysis
of angle crossing speeds for axes whose parameter P33 is set to 0.
The time constant per group P56 continues to be used for speed limiting based on path curve radii to control the servocontrol
error.
As in versions before the CNC software at index K, it is also used for axes whose word in P66 is set to 0.
Each word corresponds to the physical address of an axis:
- The contents of word N0 are assigned to the axis with physical address 0
- The contents of word N1 are assigned to the axis with physical address 1
- etc.
Physical List
axis @ of words
@0 Word N0
@1 Word N1
' '
' '
' '
@31 Word N31
The values are expressed in milliseconds.