CANopen Programmer's Manual - Maccon.de

4: Control Loop Configuration CANopen Programmer’s Manual
POSITION LOOP ACCELERATION FEED FORWARD INDEX 0X2382, SUB-INDEX 3
Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This value is multiplied by the Instantaneous Commanded Acceleration (index 0x2251, p. 137)
generated by the trajectory generator. The product is added to the output of the position loop.
POSITION LOOP OUTPUT GAIN MULTIPLIER INDEX 0X2382, SUB-INDEX 4
Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
The output of the position loop is multiplied by this value before being passed to the velocity loop.
This scaling factor is calculated such that a value of 100 is a 1.0 scaling factor.
This parameter is most useful in dual loop systems.
POSITION LOOP GAINS INDEX 0X60FB
Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object is no longer recommended. Use object 0x2382 (p.139).This object contains the various
gain values used to optimize the position control loop. Sub-index 0 contains the number of subelements
of this record.
POSITION LOOP PROPORTIONAL GAIN INDEX 0X60FB, 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 0X60FB, 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.
140 Copley Controls