Software for the synchronization of axes - Kollmorgen
Software for the synchronization of axes - Kollmorgen
Software for the synchronization of axes - Kollmorgen
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7.5.4 Parameter KPOSWhen <strong>the</strong> unit is operated as a position controller <strong>the</strong> KPOS term determines <strong>the</strong>proportional gain (block P). When operated as a speed control KTEGR is set to 32,768(hexa : 8000), and KPOS determines <strong>the</strong> integration constant (I) <strong>of</strong> <strong>the</strong> speedcontroller. In both cases, it influences directly <strong>the</strong> relation between <strong>the</strong> output torqueand <strong>the</strong> corresponding angular distance.The KPOS value should be positive between 1 and 32,767 (hexa : 1 ... 7FFF). WhenKPOS = 256 (hexa : 100), an angular distance or position error <strong>of</strong> 0.0123 radiansproduces a counter-torque <strong>of</strong> 1Nm.Please refer to application note AN 5 : "The speed and position controlling regulator"No. 024.8042 <strong>for</strong> <strong>the</strong> adjustment <strong>of</strong> this parameter.Address : 80 (hexa : 50).Default value : 48 (hexa : 30).7.5.5 Parameter KVITThis parameter determines <strong>the</strong> derivative gain (D) <strong>of</strong> <strong>the</strong> position controller, or <strong>the</strong>proportional gain (block P) <strong>of</strong> <strong>the</strong> speed controller. It is required to ensure <strong>the</strong> stability<strong>of</strong> <strong>the</strong> system.The KVIT value should be positive between 1 and 32,767 (hexa : 1 ... 7FFF). WithKVIT = 256 (hexa : 100), a velocity error <strong>of</strong> 2.30 rad/s produces a counter torque <strong>of</strong> 1Nm.Please refer to application note AN 5 : "The speed and position controlling regulator"No. 024.8042 <strong>for</strong> <strong>the</strong> adjustment <strong>of</strong> this parameter.Address : 81 (hexa : 51).Default value : 96 (hexa : 60).7.5.6 Parameter KTEGRThis parameter determines <strong>the</strong> integration constant <strong>of</strong> <strong>the</strong> position controller (I) when<strong>the</strong> amplifier is operated as a position control. It also serves as a choice whe<strong>the</strong>r <strong>the</strong>unit should operate as a position or velocity controller as explained in paragraph 7.5.3.When <strong>the</strong> position regulator is active, <strong>the</strong> KTEGR value should be positive between 0and 32,767 (hexa : 0 ... 7FFF).To select <strong>the</strong> speed regulator, set KTEGR = 32,768 (hexa : 8000).Please refer to application note AN 5 : "The speed and position controlling regulator"No. 024.8042 <strong>for</strong> <strong>the</strong> adjustment <strong>of</strong> this parameter.Address : 82 (hexa : 52).Default value : 0.41
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