CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual TRACKING WARNING WINDOW INDEX 0X6065 Type Access Units Range Map PDO Memory Integer 32 RW counts 0 - 2,147,483,647 YES RF Description This object holds the maximum position error that the amplifier will tolerate before indicating a tracking warning. If the absolute position error (defined as the difference between the actual motor position and the position command value) exceeds this window, then the warning bit (bit 19) of the Manufacturer Status Register (index 0x1002, p. 60) is set. Note that this following error window generates a warning, not an amplifier fault. A separate tracking error window may be programmed which will cause an amplifier fault condition if exceeded. See the Tracking Error Window object (index 0x2120, p. 67) for details. MAXIMUM SLIPPAGE-PROFILE VELOCITY MODE INDEX 0X60F8 Type Access Units Range Map PDO Memory Integer 32 RW counts 0 - 2,147,483,647 YES RF Description Object 60F8 is included because the CANopen Profile for Drives and Motion Control (DSP 402) mandates it for support of profile velocity mode operation. This object is identical to Tracking Warning Window (index 0x6065, p. 138). A change to either object is reflected in the other. POSITION TRACKING WINDOW INDEX 0X6067 Type Access Units Range Map PDO Memory Integer 32 RW counts 0 - 2,147,483,647 YES RF Description Size of the amplifier's tracking window. When the absolute position error of the motor is less then or equal to the position tracking window value, the motor is considered to be tracking the desired position correctly. This is true both when moving and when resting in position. The target reached bit (bit 10) is set in the Status Word (index 0x6041, p. 58) when the amplifier has finished running a trajectory, and the position error has been within the position tracking window for the programmed time. The Manufacturer Status Register (index 0x1002, p. 60) has two bits that are affected by the tracking window. Bit 25 is set any time the motor position has fallen outside the position tracking window (whether in motion or not), and bit 27 is set when the motor position is outside the position tracking window, or the amplifier is in motion. POSITION TRACKING WINDOW TIME INDEX 0X6068 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds 0 - 5000 YES RF Description Accesses the time component of the position tracking window. The motor will only be treated as tracking properly when the position error has been within the Position Tracking Window (index 0x6067, p. 138) for at least this long. The tracking window bit (bit 25) in the Manufacturer Status Register (index 0x1002, p. 60) will not be cleared until the position has been within the position tracking window for at least this long. 138 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration POSITION ERROR INDEX 0X60F4 Type Access Units Range Map PDO Memory Integer 32 RO counts - YES - Description Also known as following error. This object gives the difference, in units of counts, between the Position Actual Value object (index 0x6063, p. 137) and the Position Command Value object (index 0x60FC, p. 141). This value is calculated as part of the position control loop. It is also the value that the various tracking windows are compared to. See Tracking Warning Window object (index 0x60FC, p. 141), Position Tracking Window object (index 0x6067, p. 138), and Tracking Error Window object (index 0x2120, p. 67). POSITION LOOP CONTROL EFFORT INDEX 0X60FA Type Access Units Range Map PDO Memory Integer 32 RO 0.1 counts/sec - YES - Description The position loop produces a commanded velocity as its output. This object gives access to that value. This value also represents the input to the velocity loop. POSITION LOOP GAINS INDEX 0X2382 Type Access Units Range Map PDO Memory Record RW - - YES - Description This object contains the various gain values used to optimize the position control loop. Sub-index 0 contains the number of sub-elements of this record. POSITION LOOP PROPORTIONAL GAIN INDEX 0X2382, SUB-INDEX 1 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 –32,767 YES RF Description This gain value is multiplied by the position loop error. The position loop error is the difference between the Position Command Value (index 0x60FC, p. 141) and the Position Actual Value (index 0x6064, p. 137). POSITION LOOP VELOCITY FEED FORWARD INDEX 0X2382, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 –32,767 YES RF Description This value is multiplied by the Instantaneous Commanded Velocity (index 0x2250, p. 137) generated by the trajectory generator. The product is added to the output of the position loop. This gain is scaled by 1/16384. Therefore, setting this gain to 0x4000 (16384) would cause the input velocity to be multiplied by 1.0, and the result added to the output of the position loop. Copley Controls 139
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