Beckhoff AX5000 S-IDN Parameters Manuel d'utilisateur télécharger pdf (Page 159)

SIDNs

S00348Accelerationfeedforwardgain

Theparametercontainstheaccelerationprecontrol.Thisparameterisactiveinmode"Positioncontrollag

less".Itisusedinselectedapplicationstoadditionallyreducefollowingerrorsduringaccelerationand

deceleration.

Attributes

Name Value

Format udec

Datalength 16

Decimalpoint 4

Minvalue 0.0000

Maxvalue 3.2767

Defaultvalue 

Unit %/(rad/s²)

ChangeableinEtherCATstate PreOp,SafeOp,Op

Cyclictransfer No

Deviceparameter No

Relatedtointerfacerevision from0203

Theaccelerationprecontrolgeneratesasetcurrentthatisaddedtothecontrolvalueofthevelocity

controller(precontrol).Thisparametercanbeusedtoadapttheeffectofaccelerationprecontroltothe

application,bylinearlyscalingtheaccelerationcalculatedbydualdifferentiationofthesetposition.The

accelerationprecontrolcanonlybeusedinconnectionwithcubicinterpolation(P00556),becauseaset

accelerationcanonlybecalculatedfromathirdorderinterpolation.

Explanation:

m=torque

α=angularaccelerationofthemotorshaft

J_tot=totalmomentofinertiaactiveatthemotor

K_T=torqueconstantofthemotor

i_q=torquegeneratingmotorcurrent

Calculationexample:

Parametercalculation:

tot



kgm



Nm/



rms

P00092=A

rms

100%=Fullcompensation

AX5000IDNDescriptions 159Version3.1

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Beckhoff AX5000 S-IDN Parameters Manuel d'utilisateur Page 159