Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
160
Motor Compensation Tables and Constants
Ixx63: Integration Limit
Ixx63 is a saturation limit for the integrator, which limits the magnitude of the integrator output. If set to
a negative value, it trips the servo loop with a fatal following error if the integrator saturates. Setting
Ixx63 to 0 clears the integrator and thus its output. (Setting integral gain term Ixx33 to 0 only stops
further input to the integrator.)
a negative value, it trips the servo loop with a fatal following error if the integrator saturates. Setting
Ixx63 to 0 clears the integrator and thus its output. (Setting integral gain term Ixx33 to 0 only stops
further input to the integrator.)
Ixx64, Ixx65: Deadband Compensation
Ixx64 and Ixx65 permit both the creation of a deadband and compensation for physical deadband (as in
proportional hydraulic valves). Ixx65 specifies the magnitude of the deadband compensation zone in
terms of magnitude of the servo following error. Ixx64 specifies the gain inside that zone relative to the
overall proportional gain Ixx30. Positive values of Ixx64 increase the gain inside the zone, compensating
for physical deadband; negative values of Ixx64 decrease the gain inside the zone, with Ixx64=-16
producing true deadband.
proportional hydraulic valves). Ixx65 specifies the magnitude of the deadband compensation zone in
terms of magnitude of the servo following error. Ixx64 specifies the gain inside that zone relative to the
overall proportional gain Ixx30. Positive values of Ixx64 increase the gain inside the zone, compensating
for physical deadband; negative values of Ixx64 decrease the gain inside the zone, with Ixx64=-16
producing true deadband.
n=-16
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