CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 4: Control Loop Configuration<br />
POSITION LOOP ACCELERATION FEED FORWARD INDEX 0X60FB, SUB-INDEX 3<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 –32,767 YES RF<br />
Description<br />
This value is multiplied by the Instantaneous Comman<strong>de</strong>d Acceleration (in<strong>de</strong>x 0x2251, p. 137)<br />
generated by the trajectory generator. The product is ad<strong>de</strong>d to the output of the position loop.<br />
POSITION LOOP OUTPUT GAIN MULTIPLIER INDEX 0X60FB, SUB-INDEX 4<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - - YES RF<br />
Description<br />
The output of the position loop is multiplied by this value before being passed to the velocity loop.<br />
This scaling factor is calculated such that a value of 100 is a 1.0 scaling factor.<br />
This parameter is most useful in dual loop systems.<br />
POSITION COMMAND VALUE INDEX 0X60FC<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RO counts - YES -<br />
Description<br />
This value is the output of the trajectory generator, and represents the comman<strong>de</strong>d position input<br />
to the position control loop. Each servo cycle the trajectory generator will update this value, and<br />
the position loop will attempt to drive the motor to this position. I<strong>de</strong>ntical to Position Command<br />
Value (in<strong>de</strong>x 0x6062, p. 137).<br />
SOFTWARE POSITION LIMITS INDEX 0X607D<br />
Type Access Units Range Map PDO Memory<br />
Array RW - - YES -<br />
Description<br />
This array holds the two software position limit values Negative Software Limit Position and<br />
Positive Software Limit Position.<br />
NEGATIVE SOFTWARE LIMIT POSITION INDEX 0X607D, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW counts - YES RF<br />
Description<br />
Software limits are only in effect after the amplifier has been referenced (i.e. homing has been<br />
successfully completed). Set to less than negative software limit to disable.<br />
POSITIVE SOFTWARE LIMIT POSITION INDEX 0X607D, SUB-INDEX 2<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW counts - YES RF<br />
Description<br />
Software limits are only in effect after the amplifier has been referenced (i.e. homing has been<br />
successfully completed). Set to greater than positive software limit to disable.<br />
Copley Controls 141
Change language