CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual SOFTWARE LIMIT DECELERATION INDEX 0X2253 Type Access Units Range Map PDO Memory Unsigned 32 RW 10 counts / sec 2 0 – 100,000,000 YES RF Description The deceleration rate used when approaching a software limit. MOTOR ENCODER POSITION INDEX 0X2240 Type Access Units Range Map PDO Memory Integer 32 RW counts - YES R Description For single-encoder systems, this is the same as the Position Actual Value object (index 0x6063, p. 137). For dual-encoder systems this gives the motor position rather than the load encoder position. For more information, see Load Encoder Velocity (index 0x2231, p. 144). LOAD ENCODER POSITION INDEX 0X2242 Type Access Units Range Map PDO Memory Integer 32 RW counts - YES R Description For dual encoder systems, this object gives the load (position) encoder position and is the same as the Position Actual Value object (index 0x6063, p. 137). For single encoder systems, this object is not used. MINIMUM PWM PULSE WIDTH INDEX 0X2323 Type Access Units Range Map PDO Memory Integer 16 RW microseconds - NO RF Description Minimum PWM pulse width in microseconds. Used when running in PWM position mode. In this mode the PWM input pulse width is captured by the drive and used to calculate an absolute position using the following formula: pos = ((PW-MIN) / (MAX-MIN)) * SCALE + OFFSET where this parameter is the minimum pulse width (MIN), parameter 0x13D is the maximum pulse width (MAX), parameter 0xA9 is the scaling factor (SCALE) and parameter 0x10F is the offset (OFFSET). MAXIMUM PWM PULSE WIDTH INDEX 0X2324 Type Access Units Range Map PDO Memory Integer 16 microseconds - RF Description Maximum PWM pulse width used when running in PWM position mode. 142 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration 4.3: Velocity Loop Configuration Objects Contents of this Section This section describes the objects used to configure the velocity control loop. They include: Velocity Command Value Index 0x606B ................................................................................................. 144 Actual Velocity Index 0x6069 .................................................................................................................. 144 Actual Velocity Index 0x606C .................................................................................................................. 143 Unfiltered Motor Encoder Velocity Index 0x2232 .................................................................................... 143 Load Encoder Velocity Index 0x2231 ...................................................................................................... 143 Velocity Loop Maximum Acceleration Index 0x2100 ............................................................................... 143 Velocity Loop Maximum Deceleration Index 0x2101 .............................................................................. 144 Velocity Loop Emergency Stop Deceleration Index 0x2102 .................................................................... 144 Velocity Loop – Maximum Velocity Index 0x2103 ................................................................................... 144 Velocity Error Window – Profile Position Index 0x2104 .......................................................................... 144 Velocity Error Window – Profile Velocity Index 0x606D .......................................................................... 144 Velocity Error Window Time Index 0x2105 ............................................................................................. 145 Velocity Error Window Time Index 0x606E ............................................................................................. 145 Limited Velocity Index 0x2230 ................................................................................................................. 145 Programmed Velocity Command Index 0x2341 ...................................................................................... 145 Velocity Loop Gains Index 0x2381 .......................................................................................................... 145 Velocity Loop Proportional Gain Index 0x2381, Sub-Index 1 .............................................................. 145 Velocity Loop Integral Gain Index 0x2381, Sub-Index 2 ..................................................................... 146 Velocity Loop Acceleration Feed Forward Index 0x2381, Sub-Index 3 ............................................... 146 Velocity Loop Gain Scaler Index 0x2381, Sub-Index 4 ........................................................................... 146 Velocity Loop Vi Drain (Integral Bleed) Index 0x2381, Sub-Index 5 .................................................... 146 Velocity Loop Command Feed Index 0x2381, Sub-Index 6 ................................................................ 146 Velocity Loop Gains Index 0x60F9 .......................................................................................................... 146 Velocity Loop Proportional Gain Index 0x60F9, Sub-Index 1 .............................................................. 146 Velocity Loop Integral Gain Index 0x60F9, Sub-Index 2 ..................................................................... 147 Velocity Loop Acceleration Feed Forward Index 0x60F9, Sub-Index 3 .............................................. 147 Velocity Loop Gain Scaler Index 0x60F9, Sub-Index 4........................................................................... 147 Velocity Loop Vi Drain (Integral Bleed) Index 0x60F9, Sub-Index 5 ................................................... 147 Velocity Loop Command Feed Index 0x60F9, Sub-Index 6 ................................................................ 147 Hall Velocity Mode Shift Value Index 0x2107 .......................................................................................... 147 Velocity Loop Output Filter Coefficients Index 0x2106 ............................................................................ 148 Velocity Loop Command Filter Coefficients Index 0x2108 ...................................................................... 148 Analog Input Filter Coefficients Index 0x2109 ......................................................................................... 148 Copley Controls 143
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