# Parametrierbeispiel

Exemplarische Parametrierung in einer Kanalliste.

# P-CHAN-00500: Activate functionality

configuration.decoder.function FCT_3D_DIST_CTRL

## Dynamic parameters

# P-CHAN-00801: Max. permissible deviation [0.1um]

dist_ctrl[0].max_deviation 10000000

# P-CHAN-00802: Max. velocity [um/s]

dist_ctrl[0].v_max 10000

# P-CHAN-00803: Max. acceleration [mm/s*s]

dist_ctrl[0].a_max 100

# P-CHAN-00804: Max. speed of sensor values change per cycle [um/s]

dist_ctrl[0].max_act_value_change 10000000

# P-CHAN-00819: Lowering movement with 0.1% velocity
# of P-CHAN-00802 v_max

dist_ctrl[0].v_weight_down 0

# P-CHAN-00820: Lowering movement with 0.1% acceleration
# of P-CHAN-00804 a_max

dist_ctrl[0].a_weight_down 0

# P-CHAN-00805: Offset reference of sensor [0.1um]

dist_ctrl[0].ref_offset 0

# P-CHAN-00806: Upper limit of sensor [0.1um]

dist_ctrl[0].max_pos 1500000

# P-CHAN-00807: Lower limit of sensor [0.1um]

dist_ctrl[0].min_pos -1500000

# P-CHAN-00808: Tolerance to sensor limits P-CHAN-00806/00807 [0.1um]

dist_ctrl[0].tolerance 0

## PID-Controller

# P-CHAN-00821: weighting of output values

dist_ctrl[0].kp 0.3

# P-CHAN-00822: integral time

dist_ctrl[0].i_tn 0.0

# P-CHAN-00823: derivative time

dist_ctrl[0].d_tv 0.01

## Filter

# P-CHAN-00800: Number of cycles used for filter calculation

dist_ctrl[0].n_cycles 20

# P-CHAN-00825: Filtertype to smooth sensor values

dist_ctrl[0].filter_type MOVING_AVERAGE

# P-CHAN-00827: Weighting of the actual sensor value (Expo filters)

dist_ctrl[0].smoothing_factor 0.05

# P-CHAN-00826: uncertainty of measured values (Kalman filters)

dist_ctrl[0].kalman_sigma 2000

# P-CHAN-00816: Order of low pass filter

dist_ctrl[0].low_pass_filter_order 3

# P-CHAN-00817: Frequency of low pass filter [Hz]

dist_ctrl[0].low_pass_filter_fg_f0 50

## Adaptive acceleration

# P-CHAN-00811: Adaptive acceleration active

dist_ctrl[0].use_adaptive_acceleration 0

# P-CHAN-00812: Min. acceleration [mm/s*s]

dist_ctrl[0].a_min 1

# P-CHAN-00813: Min. distance [0.1 um] to use a_min for
# adaptive acceleration

dist_ctrl[0].dist_error_a_min 400

# P-CHAN-00814: Max. distance [0.1 um] to use a_max for
# adaptive acceleration

dist_ctrl[0].dist_error_a_max 2500