CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual 4.2: Position Loop Configuration Objects Contents of this Section This section describes the objects used to configure the position control loop. They include: Instantaneous Commanded Velocity Index 0x2250 ................................................................................ 137 Instantaneous Commanded Acceleration Index 0x2251 ......................................................................... 137 Position Command Value Index 0x6062 ................................................................................................. 136 Position Actual Value Index 0x6063 ........................................................................................................ 136 Position Actual Value Index 0x6064 ........................................................................................................ 136 Tracking Warning Window Index 0x6065 ............................................................................................... 137 Maximum Slippage-Profile Velocity Mode Index 0x60F8 ........................................................................ 137 Position Tracking Window Index 0x6067 ................................................................................................ 137 Position Tracking Window Time Index 0x6068 ....................................................................................... 137 Position Error Index 0x60F4 .................................................................................................................... 138 Position Loop Control Effort Index 0x60FA ............................................................................................. 138 Position Loop Gains Index 0x2382 .......................................................................................................... 138 Position Loop Proportional Gain Index 0x2382, Sub-Index 1 .............................................................. 138 Position Loop Velocity Feed Forward Index 0x2382, Sub-Index 2 ...................................................... 138 Position Loop Acceleration Feed Forward Index 0x2382, Sub-Index 3 .............................................. 139 Position Loop Output Gain Multiplier Index 0x2382, Sub-Index 4 ....................................................... 139 Position Loop Gains Index 0x60FB ......................................................................................................... 139 Position Loop Proportional Gain Index 0x60FB, Sub-Index 1 ............................................................. 139 Position Loop Velocity Feed Forward Index 0x60FB, Sub-Index 2 ..................................................... 139 Position Loop Acceleration Feed Forward Index 0x60FB, Sub-Index 3 .............................................. 140 Position Loop Output Gain Multiplier Index 0x60FB, Sub-Index 4 ...................................................... 140 Position Command Value Index 0x60FC ................................................................................................ 140 Software Position Limits Index 0x607D ................................................................................................... 140 Negative Software Limit Position Index 0x607D, Sub-Index 1 ............................................................ 140 Positive Software Limit Position Index 0x607D, Sub-Index 2 .............................................................. 140 Software Limit Deceleration Index 0x2253 .............................................................................................. 141 Motor Encoder Position Index 0x2240 .................................................................................................... 141 Load Encoder Position Index 0x2242 ...................................................................................................... 141 Minimum PWM Pulse Width Index 0x2323 ............................................................................................. 141 Maximum PWM Pulse Width Index 0x2324 ............................................................................................ 141 136 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration INSTANTANEOUS COMMANDED VELOCITY INDEX 0X2250 Type Access Units Range Map PDO Memory Integer 32 RO 0.1 counts / sec - YES - Description This is the velocity output from the trajectory generator. It is the velocity by which the position loop's Position Loop Velocity Feed Forward gain (Index 0x2382, Sub-Index 2, p. 139) is multiplied. INSTANTANEOUS COMMANDED ACCELERATION INDEX 0X2251 Type Access Units Range Map PDO Memory Integer 32 RO 10 counts / sec 2 - YES - Description This is the acceleration output from the trajectory generator. It is the acceleration by which the position loop's gain (Index 0x2382, Sub-Index 3, p. 140) is multiplied. POSITION COMMAND VALUE INDEX 0X6062 Type Access Units Range Map PDO Memory Integer 32 R0 counts - YES - Description This is the motor position (in units of counts) to which the amplifier is currently trying to move the axis. This value is updated every servo cycle based on the amplifier's internal trajectory generator. Identical to Position Command Value (index 0x6062. p. 137). POSITION ACTUAL VALUE INDEX 0X6063 Type Access Units Range Map PDO Memory Integer 32 RW counts - YES R Description This is the actual motor position as calculated by the amplifier every servo cycle based on the state of the encoder input lines, and as used by the position loop. For single encoder systems, this is the same as the Motor Encoder Position object (index 0x2240). For dual encoder systems, it is the same as Load Encoder Position (index 0x2242, p. 142). POSITION ACTUAL VALUE INDEX 0X6064 Type Access Units Range Map PDO Memory Integer 32 RW counts - YES R Description This object holds the same value as Position Actual Value object (index 0x6063, p. 137). Copley Controls 137
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