Settings for dynamic kv adjustment (getriebe[i].dyn_kv.*)

With dynamic 'kv' adjustment the position controller gain can be altered dependent on the axis velocity.

The needed position loop controller gain for two axis velocities has to be defined. Position loop gain is linear interpolated between these two velocities. The following picture shows some examples for dependencies between position control loop gain and axis velocity.

Parameters of dynamic kv adjustment
Parameters of dynamic kv adjustment

Notice

notice

In SERCOS and CANopen drives, a velocity-dependent kv adjustment is only possible in CNC position control mode ( P-AXIS-00320 = CNC_POSITION_CONTROL).