Beckhoff EL7037 User Manual download pdf (Page 115)

Commissioning

Fig.125: Position lag monitoring parameters

factors

In the NC two proportional factors K

can be set under "Axis 1_Ctrl " in tab "Parameter". First select the

position controller Type with two P constants (with K

) under the “NC Controller” tab. The two P constants

are for the Standstill range and for the Moving range (see Fig. "Setting the proportional factor K

"). The

factors can be used to set the start-up torque and the braking torque to a different value than the drive

torque. The threshold value can be set directly below (Position control: Velocity threshold V dyn) between

0.0 (0%) and 1.0 (100%). Fig. "Velocity ramp with K factor limit values" shows speed ramp with thresholds of

30%. The K

factor for Standstill (t

and t

) can be different than the Kv factor for Moving (t

). In this case the

same factor was used, since for stepper motors this function is less crucial than for DC motors.

Fig.126: Speed ramp with K factor limit values

EL70x7 115Version 1.0

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Beckhoff EL7037 User Manual Page 115