Rockwell-automation 8510 AC Spindle Drive System Programming Manual Manual de usuario descargar pdf (Pagina 27)

Programming

Chapter 2

2-24

Servo P Gain

The velocity loop proportional gain used in the servo mode is set with

this parameter. This data is programmed in Per Unit Torque / Per Unit

Velocity Error or % Torque / % Velocity Error.

Data Range: 000.0 to 200.0

Default Value 5.00

Servo I Gain

The velocity loop integral gain used in the servo mode is set with this

parameter. This data is programmed in Per Unit Torque / Per Unit

Velocity Error/second or % Torque / % Velocity Error / second. The

units for this parameter are 1/seconds.

Data Range: l/S 00.00 to 50.00

Default Value 00.20

Droop In Run

Droop In Run sets a maximum limit on the effective low frequency

velocity loop gain that the integrator can generate during normal

running mode operation. This parameter limits stick-slip motion during

very low speed C axis operation. The data is expressed in Per Unit

Velocity Error / Per Unit Torque or % Velocity Error / % Torque.

Data Range: 0.000 to 7.999

Default Value 0.001

Droop In Hold

Sets a maximum limit on the effective low frequency velocity loop gain

that the integrator can generate when the spindle is within the

in-position error band limit during spindle orient operation. This can

allow accurate positioning without excess stick-slip motion. The data is

expressed in Per Unit Velocity Error / Per Unit Torque or % Velocity

Error / % Torque.

Data Range: 0.000 to 7.999

Default Value 0.001

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Rockwell-automation 8510 AC Spindle Drive System Programming Manual Manual de usuario Pagina 27