User Manual

PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
71 / 82
6.3.1 Timing Control Value
The velocity PI regulator uses a timing control value (velocity regulation loop multiplier, axis parameter
133) which determines how often the PID regulator is invoked. The value is given in multiple of 50 µ s,
following the next formula:
t
P I DDELAY
= x
P I DRLD
· 50µs
t
P I DDELAY
= resulting delay between two P ID calculations
x
P I DRLD
= P ID regulation loop delay parameter
For most applications it is recommended to leave this parameter unchanged at its default of 1 × 50 µ s.
Higher values may be necessary for very slow and less dynamic drives.
6.3.2 Structure of the Velocity Regulator
Figure 3: Velocity Regulation (See parameter descriptions in Table 15)
Velocity Regulation Parameters
Parameter Description
V
ACT U AL
Actual motor velocity (GAP 3)
V
RAM P GEN
Target velocity of ramp generator (SAP 2, GAP 13)
V
M ax
Max. target velocity (SAP 4)
e
SU M
Error sum for integral calculation (GAP 229)
P
P ARAM
Velocity P parameter (SAP 234)
I
P ARAM
Velocity I parameter (SAP 235)
I
M ax
Max. target current (SAP 6)
I
T ARGET
Target current for current PID regulator (GAP 155)
Table 15: Velocity Regulation Parameters
6.3.2.1 Parametrizing the Velocity Regulator Set
In order to parameterize properly the velocity regulator set, do as follows:
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com