Setting up Compax3 Positioning via digital I/Os148 192-120101 N11 C3I11T11 November 2007corresponds to the bandwidth of the current loop) describes the velocity of thevelocity loop (see below).Jerk response of the velocity loop depending on the optimization paramter"attenuation" and "stiffness"Attenuation = 100% Stiffness = 100%234156711: Setpoint value2: Actual value (stiffness = 200%)3: Actual value (stiffness = 100%)4: Actual value (stiffness = 50%)5: Actual value (attenuation = 500%)6: Actual value (attenuation = 100%)7: Actual value (attenuation = 50%)D-termThe D-term parameter ( of the velocity loop) activates existing control oscillations ofdrives with elastic coupling (e.g. toothed belt drives). The D-term is notautomatically designed and must therefore be set manually.Postition loopThe position controller is automatically adapted depending on the stiffness of thevelocity loop.Controller coefficientsIn this chapter you can read about:Velocity Loop ”P” Term ....................................................................................................................149D-term of the KD velocity controller .................................................................................................149P-term KV position loop ...................................................................................................................149Dependance of the controller coefficients from th optimization objectsThe controller coefficients are influenced by the optimization objects such as"stiffness" and/or "attenuation". The dependency is displayed below.I-term KI in the velocity loopStKTStKIEGDI~100[%]⇒⋅=TEGD: the replacement time constant of the closed velocity loop.St Stiffness
