Numerator equivalent time constant for feedforward control of acceleration (P-AXIS-00225)

P-AXIS-00225

Numerator equivalent time constant for feedforward control of acceleration

Description

The acceleration command variable is weighted with the mechanical time constant 'vorsteuer.vs_a_faktor/vorsteuer.vs_a_nenner' of the drive.

The drive is modelled here as a first-order time delay element (see in @@[AXIS]).

In the Laplace-range the following transfer function is obtained

Gantrieb = 1 / [ 1 + Ta * s ] where Ta = vs_a_faktor / vs_a_nenner

Parameter

vorsteuer.vs_a_faktor

Data type

SGN32

Data range

0 ≤ vs_a_faktor ≤ MAX(SGN32)

Axis types

T, R, S

Dimension

T: µs

R,S: µs

Default value

1

Drive types

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Remarks