PFCL201CE 3BSX646434-108机器人卡件
加速时间[加速时间]内部单位：秒编程终端单位：秒最小值：。最大值：。默认值：。描述：此参数确定所选速度基准的加速率。单位是以秒为单位测量的，以加速速度为单位。无论前进方向或后退方向，应用的速度变化都可以从零速度变化。速度变化函数可以通过在特定命令行中设置来设置.ChapterProgrammingParameters参数–DecelTime[DecelTime]内部参数：secondsx编程终端单位：Seconds MinimumValue:。MaximumValue:。DefaultValue:。描述：此参数确定所有参考的速度参考的减速率。单位在第二个基准点测量，以将基准速度减速为速度。减速斜坡应用于速度在前后方向上变为零。速度斜坡功能可通过在elogic命令字。参数–DesiredContour[DessiredContoor]内部变量：=h=%contoureffectProgrammingTerminalunits:PercentoffullcontourMinimumValue:%MaximumValue:.%默认值：%描述：此参数指定速度配置文件或“S”注意事项的舍入过滤。此参数影响与速度梯度函数匹配的单极滤波器的增益。增加此参数的值会使速度基准曲线的边缘更圆化。%轮廓表示过滤的最大速度基准。%轮廓将禁用速度梯度函数。参数–DroopPercent[DropPercent]内部：%下降影响编程终端单位：Percentofbasespeed@fullloadcurrent.MinimumValue：%最大值：.%默认值：%描述：此参数指定满载电流时速度基准将降低的基准速度百分比。例如；给定电机以基本速度和空载运行，对于%降速，速度为满载电流时的基本速度的%。%降速禁用降速功能。ChapterProgrammingParameters参数–DropFilterGain[DropFilter]Internal参数：=h=%droopfilteringProgramming终端单位：百分比最大Dropfiltering最小值：%最大值：%默认值：%描述：此参数确定回路中使用的单极滤波器的增益。过滤器用于纠正通过从速度参考中减去速度误差的函数而产生的稳定性问题。%Drop过滤器提供最大Droop过滤器效果。%Dropfilter值将禁用轮胎Droop功能。参数–KIVelocityLoop[KIVelociityLoop]内部变量：非编程终端单元：非最小值：最大值：默认值：描述：此参数控制速度调节器的积分或增益。例如：如果KI=，则第二个的puVelocityError将产生uTorqueReference。参数–
AccelTime[AccelTime]Internalunits:secondsxProgrammingTerminalunits:SecondsMinimumValue:.MaximumValue:.DefaultValue:.Description:Thisparameterdeterminestheaccelerationrateofthevelocityreferenceselected.Unitsaremeasuredinsecondstoacceleratefromtobasespeed.Theaccelerationrampappliestospeedchangesawayfromzerospeedineithertheforwardorreversedirection.Thevelocityrampfunctioncanbebypassedbysettingbittointhelogiccommandword.ChapterProgrammingParameters-Parameter–DecelTime[DecelTime]Internalunits:secondsxProgrammingTerminalunits:SecondsMinimumValue:.MaximumValue:.DefaultValue:.Description:Thisparameterdeterminesthedecelerationrateofthevelocityreferenceforallreferences.Unitsaremeasuredinsecondstakentodeceleratefrombasespeedtospeed.Thedecelerationrampappliestospeedchangestowardzerospeedineithertheforwardorreversedirection.Thevelocityrampfunctioncanbebypassedbysettingabittointhelogiccommandword.Parameter–DesiredContour[DesiredContour]Internalunits:=h=%contoureffectProgrammingTerminalunits:PercentoffullcontourMinimumValue:%MaximumValue:.%DefaultValue:%Description:Thisparameterspecifiestheroundingoftheedgesofthevelocityprofileor“S”filtering.Thisparameteraffectsthegainofasinglepolefilterthatiscascadedwiththevelocityrampfunction.Increasingthevalueofthisparametercausestheedgesofthevelocityreferencecurvetobemorerounded.%contourrepresentsmaximumvelocityreferencefiltering.%contourwilldisablethevelocityfilterfunction.Parameter–DroopPercent[DroopPercent]Internalunits:%droopeffectxProgrammingTerminalunits:Percentofbasespeed@fullloadcurrent.MinimumValue:%MaximumValue:.%DefaultValue:%Description:Thisparameterspecifiesthepercentofbasespeedthatthevelocityreferencewillbereducedwhenatfullloadcurrent.Forexample;givenamotorrunningatbasespeedandnoload,for%droop,thespeedbecomes%ofbasespeedatfullloadcurrent.%DroopdisablestheDroopfunction.ChapterProgrammingParameters-Parameter–DroopFilterGain[DroopFilter]Internalunits:=h=%droopfilteringProgrammingTerminalunits:PercentofmaximumDroopfilteringMinimumValue:%MaximumValue:.%DefaultValue:%Description:Thisparameterdeterminesthegainofasinglepolefilterusedinthedroop.Afilterisusedtocorrectforstabilityproblemscausedbysubtractingafunctionofvelocityerrorfromthevelocityreference.%DroopfilteringprovidesthemaximumDroopfilteringeffect.%DroopfiltervaluewilldisabletheentireDroopfunction.Parameter–KIVelocityLoop[KIVelocityLoop]Internalunits:NoneProgrammingTerminalunits:NoneMinimumValue:MaximumValue:DefaultValue:Description:Thisparametercontrolstheintegralerrorgainofthevelocityregulator.Forexample:IfKI=,thenpuVelocityErrorforsecondwillproducepuTorqueReference.Parameter–
