VelocityControlKpGain

General

Type	EF
Offline editable	Yes
Devices supporting the parameter	Lexium MC Carrier
Traceable	Yes

Functional Description

The parameter VelocityControlKpGain represents the gain setting of the velocity control for the carrier in percent (%).

The default value of the parameter is 10 %.

The parameter is used to enter the proportional gain of the velocity controller. It defines the proportion of the reference current that must be adapted to a deviation of the actual velocity from the reference velocity.

The theoretical maximum possible dynamic in relation to the total mass is 100 %. The internal controller gain, which is parameterized using the parameter VelocityControlKpGain, is also dependent on the parameters Mass and AdditionalMass. These parameters must be validated before configuring VelocityControlKpGain.

By increasing the VelocityControlKpGain, the dynamics of the speed control loop can be increased and so the tracking deviation can be reduced. However, if the value of the parameter VelocityControlKpGain is excessive, this may lead to the control loop becoming unstable. The value for which the stability limit is reached depends on the parameters of the mechanics connected to the carrier. To achieve a low tracking deviation, optimal conditions must be determined.

WARNING
	UNintendeD Equipment OPERATION Test adjustments made to any control parameters prior to putting the equipment into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The carrier-specific setting of the VelocityControlKpGain can be enabled by the parameter EnableGainSettings.

NOTE: The parameter VelocityControlKpGain is not mapped to the cyclic Sercos data of the carrier.

Unit	Data type	Meaning
%	LREAL	The gain setting of the velocity control for the carrier in percent (%).