Rockwell-automation 1771-QB Linear Pos. Manual de usuario descargar pdf (Pagina 99)

Formatting Module Data (WRITES)

Chapter 7

720

Figure 7.26

Gain

Break Plot

Commanded Axis

speed

Following

Error

50069

Immediate Stop

Desired

Gain

Maximum Velocity

Gain Break speed

Proportional

Gain

Factor

slope (IPS/mil) = Proportional Gain

Gain Break

Point

Max Following Error

Excess Error

(Determined by Excess

Following Error Parameter)

Typically, at axis speeds below the gain break velocity, you would use a

relatively high gain to allow precise axis positioning. By reducing the gain at

axis speeds above the gain break speed, we can achieve better stability in some

applications.

The gain break speed must not exceed the maximum velocities specified in the

analog calibration constants.

If you don’t want a gain break speed, set the gain break speed and gain factor

parameters to zero. (If you set a non-zero gain factor and a zero gain break

speed, the reduced or increased gain applies to all axis speeds.)

Gain Factor (words 19 and 48)

The gain factor parameter determines how much the proportional gain is

reduced or increased at speeds above the gain break speed. It is expressed as a

ratio of the new desired gain over the proportional gain.

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Rockwell-automation 1771-QB Linear Pos. Manual de usuario Pagina 99