ID104 'Position loop factor KV'

Sphere of action:

DRIVE

Default value:

400

Access:

READING / WRITING

Scale:

1

Temporarily changeable:

YES

Unit:

-

Data length:

2 byte

Min. value:

20

Signed:

NO

Max. value:

30000

Format:

DEC

    

List:

NO

    

 

Proportional gain Kv of the P-position controller. The following figure shows the course of the actual position value for an erratic change of the position setpoint.

Transfer function of the position control loop, effect ID104 'Position loop factor KV'

The following conditions are to be met:

Formula: System-internal limitation of the position controller gain Kv

LA = Factor position resolution (depends on encoder)

Motor encoder as an actual position encoder:

LA = ID116 'Resolution motor encoder'

Rotary external encoder:

Formula: Factor position resolution for external actual position encoder

ID117 'Resolution external position feedback system' (number of strokes per revolution)

ID122 'Load gear output revolution'

ID121 'Load gear input revolution'