num parameter manual - Documentation CN

6.20 Position Servo-Loop Settings
REMARK: The values can be recorded in the tables of Chapter 3.
Actions
Check that the limit switches and machine errors cut off power.
Declare a positive speed reference in P20 (a value of 1 in each
bit of the word).
Declare a positive loop direction for the axes in P10
(value 0 in each word).
Enter the time constants in P56.
Check that the servo-drive is set to maximum speed for a
9 V reference.
REMARK: If the servo-drive reference voltage is different from 9 V, replace this voltage by
the suitable value in the equation for KVAR.
Calculate the axis servo-loop gain coefficient and maximum
following error.
Calculation of the Axis Servo-Loop Gain Coefficient KVAR (See 6.6)
Apply the following equation for a maximum voltage of 9 V:
KVAR = 29491 / (VMAX x Τ) x k
Where:
- Τ : Servo-loop time constant (in s),
- VMAX : Maximum speed on the axis (in mm/s or deg/s)..
Coefficient k depends on the internal measurement units used by the system.
Calculation of the Maximum Following Error (See 6.9)
Apply the following equation:
EMAX = VMAX x Τ x 11/10/k
Where:
- Τ : Servo-loop time constant (in ms).
- VMAX : Maximum speed on the axis (in mm/s or deg/s).
- EMAX : Maximum following error (according to the internal measurement units used: mm/10, mm/100, μm, μm10
or μm/100 for linear axes (See 4.8) and deg/10000 for rotary axes.
Coefficient k depends on the internal measurement units used by the system.
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