User`s manual

Configuration
GFK-1742A Chapter 4 Configuration 4-29
4
6.06 Velocity at MaxCmd
(User Units/Second.) All DSM314 analog servo functions depend on
this value being correct for proper operation.
For Digital Servo Mode
, the
Velocity at Max Cmd
configuration
field is not used.
For Analog Servo Mode
, the
Velocity at Max Cmd
configuration field is the Actual Servo
Velocity (User Units/second) desired for a 10 Volt DSM314 analog velocity command output to
the servo. The
Force D/A Output
%AQ Immediate Command and the
Actual Velocity
%AI status
word can be used for a command voltage to empirically determine the proper configuration value if
necessary.
In Digital Mode only, if the user sends the DSM314 a velocity command that exceeds the servo
system capability, the DSM314 will
clamp
that command value at the appropriate maximum motor
velocity boundary.
Note that no error will be reported back to the DSM314
.
See Appendix D, “Start-up and Tuning GE Fanuc Digital and Analog Servo Systems,” for more
information on determining the correct value.
Default: 100000.
Caution
The
Velocity at 10V
must be configured correctly in order for the analog
servo
Pos Loop Time Constant
and
Velocity Feedforward
factors to be
accurate.
6.07 Velocity Feed Forward (0.01%).
Velocity Feed forward gain (units = 0.01 percent). The
Commanded Velocity
percentage that is added to the DSM314’s position loop velocity command
output. Increasing Velocity Feedforward causes the servo to operate with faster response and
reduced position error. The optimum value for each system has to be determined individually. For
Digital Servos, a 95 to 100%
Velocity Feed Forward Percentage
value is a good starting point.
For analog servos, 90-100 % is a typical value. If
Velocity Feed Forward
is changed,
Pos Err
Limit
may require adjustment. Default: 0.
Caution
For Analog Axes, the
Velocity Feed Forward Percentage
will not be accurate
unless the Velocity at MaxCmd value is first set correctly.
6.08 Acceleration Feed Forward Percentage.
This configuration item is not used in the
Release 1.0 DSM314 firmware.
6.09 Integrator Mode
Integrator Mode. Position loop position error integrator operating mode. Off
means the integrator is not used. Continuous means the integrator runs continuously even during
servo motion. Servo Null means the integrator only runs when the
Moving
%I status bit is OFF.
Integrator Mode
should normally be set to Off. Continuous mode may be used for Follower
operation only when a constant or slowly changing master velocity is expected. This parameter
should not be used to dampen disturbances in the position loop feedback. Never select Continuous
for point to point positioning applications. Default: OFF.
6.10 Integrator Time Constant
Integrator Time Constant (milliseconds). This is the position
loop position error integrator time constant. This value indicates the time required to reduce the
position error by 63%. For example, if the Integrator Time Constant is 1000 (1 second), the
Position Error
would be reduced to 37% of its initial value after 1 second. A value of zero turns