Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7.5.10 Parameter FEXTThis parameter allows for the compensation of loads that are overhauling or notcounterbalanced. It allows for a reduction of the position error when such a torque isapplied to the motor such as in the load of a vertical axis. FEXT can also becontinuously readjusted by a "host" command when a serial connection exists.FEXT can have any positive or negative value, except 32,768 (hexa : 8000). A valueFEXT = 128 (hexa : 80) compensates for a torque of 1 Nm.Please refer to application note AN 5 : "The speed and position controlling regulator"No. 024.8042 for the adjustment of this parameter.Address : 86 (hexa : 56).Default value : 0.7.5.11 Parameter DPOMAThis parameter defines the linearity limit for the position lag. When the value DPOS isless than DPOMA, the torque produced by the controller is a function of the lag.Beyond, it remains constant.The value of DPOMA is given by :DPOMA = 216 ⋅lag rad2 ⋅πmax[ ]= 2lag 16 max[deg]360When the position controller is disabled by KTEGR = 32,768 (hexa : 8000), DPOMA isused as limit for the integrator of the speed controller.The value of DPOMA is then given by :DPOMA ==202 max. speed lag [ rad / s]⋅3000 2 ⋅π202 max. speed lag [deg/ s]⋅3000 2 ⋅πDPOMA should be positive between 1 and 32,767 (hexa : 1 ... 7FFF).Please refer to application note AN 5 : "The speed and position controlling regulator"No. 024.8042 for the adjustment of this parameter.Address : 87 (hexa : 57).Default value : 4,096 (hexa : 1000).This value corresponds to a lag of 0.39 [rad] or 0.0625 [rev], respectively 73.6 [rad/s]or 703 [rpm].43