Function extension:
So far, a speed-dependent Vp adaption of the position controller gain (0x2980, 0x3180) has only been possible via the controller program in the application.
The corresponding objects for Vp adaptation had to be accessed via slow parameter communication or via the faster process data communication (PDO). The EtherCAT PDO communication cycle is, however, still much slower than the internal controller cycle.
A function for a speed-dependent gain adaptation of the position controller gain (Vp) has been implemented in the controller now.
Under the subcodes of the object 0x2985 / 0x3185 a curve with 5 grid points in x/y representation van be defined. For each speed point (x coordinate) a percentage value for Vp adaptation (y coordinate) has to be entered.
The effects of the adaptation curve and the previous Vp adaptation (0x2981, 0x3181) have a multiplicative effect.
Advantage:
Due to the fast processing of the Vp adaption inside the controller, the Vp adaption will be immediately effective in every position controller cycle.
Contained in which products?
i700 servo inverter, series devices (V02.x): from V02.10.12.11906
existing devices (V01.x): from V01.10.12.11905
Application:
Highly dynamic applications.
