CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual VELOCITY COMMAND VALUE INDEX 0X606B Type Access Units Range Map PDO Memory Integer 32 RO 0.1 counts/sec - YES - Description Also known as commanded velocity. The velocity that the velocity loop is currently trying to attain. When the amplifier is running in homing, profile position, or interpolated position mode, the velocity command value is the output of the position loop, and the input to the velocity loop. Copley Controls CANopen amplifiers support some modes in which the velocity command is produced from a source other then the position loop. In these modes the command velocity comes from the analog reference input, the digital PWM inputs, or the internal function generator. ACTUAL VELOCITY INDEX 0X6069 Type Access Units Range Map PDO Memory Integer 32 RO 0.1 enc counts / sec - YES - Description Actual motor velocity. ACTUAL VELOCITY INDEX 0X606C Type Access Units Range Map PDO Memory Integer 32 RO 0.1 counts/sec - YES - Description This object contains exactly the same information as object 0x6069. UNFILTERED MOTOR ENCODER VELOCITY INDEX 0X2232 Type Access Units Range Map PDO Memory Integer 32 RO 0.1 enc counts / sec - YES - Description Unfiltered motor velocity. LOAD ENCODER VELOCITY INDEX 0X2231 Type Access Units Range Map PDO Memory Integer 32 RO 0.1 counts / sec - YES - Description Also known as Position Encoder Velocity. Copley Controls supports the use of two encoders on a system, where the motor encoder is on the motor and the load or position encoder is on the load (the device being controlled). In such a system, the actual velocity objects read the motor encoder velocity, and the velocity loop acts on the motor encoder input. Object 0x2231 reads the load encoder velocity. VELOCITY LOOP MAXIMUM ACCELERATION INDEX 0X2100 Type Access Units Range Map PDO Memory Unsigned 32 RW 1000 enc counts / sec 2 0 – 100,000,000 YES RF Description This acceleration value limits the maximum rate of change of the commanded velocity input to the velocity loop. This limit only applies when the absolute value of the velocity change is positive (i.e. the speed is increasing in either direction). 144 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration VELOCITY LOOP MAXIMUM DECELERATION INDEX 0X2101 Type Access Units Range Map PDO Memory Unsigned 32 RW 1000 enc counts / sec 2 0 – 100,000,000 YES RF Description This acceleration value limits the maximum rate of change of the commanded velocity input to the velocity loop. This limit only applies when the absolute value of the velocity change is negative (i.e. the speed is decreasing in either direction). VELOCITY LOOP EMERGENCY STOP DECELERATION INDEX 0X2102 Type Access Units Range Map PDO Memory Unsigned 32 RW 1000 enc counts / sec 2 0 – 100,000,000 YES RF Description The deceleration rate used during the time that the amplifier is trying to actively stop a motor before applying the brake output. Also known as the Velocity Loop Fast Stop Ramp. Note that this feature is not used when the position loop is driving the velocity loop. In that case, the trajectory generator's abort acceleration is used. VELOCITY LOOP – MAXIMUM VELOCITY INDEX 0X2103 Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF Description This velocity value is a limit on the commanded velocity used by the velocity loop. Also known as the Velocity Loop Velocity Limit. The velocity loop's commanded velocity can be generated by several sources, including the output of the position loop. Velocity Loop-Maximum Velocity allows that velocity to be limited to a specified amount. VELOCITY ERROR WINDOW – PROFILE POSITION INDEX 0X2104 Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF Description Also known as the Velocity Tracking Window, this object defines the velocity loop error window. If the absolute velocity error exceeds this value, then the velocity window bit of the Manufacturer Status Register object (index 0x1002, p. 60) is set. The Velocity Window bit will only be cleared when the velocity error has been within the Velocity Error Window for the timeout period defined in the Velocity Error Window Time object (index 0x2120, p. 67). VELOCITY ERROR WINDOW – PROFILE VELOCITY INDEX 0X606D Type Access Units Range Map PDO Memory Unsigned 16 RW 0.1 counts/sec 0 – 65,535 YES RF Description Object 606D holds the same value as index 0x2104. It is included because the CANopen Profile for Drives and Motion Control (DSP 402) mandates it for support of profile velocity mode operation. In the Copley Controls implementation, 0x2104 and 0x606D differ only in the data type. Object 0x606D is unsigned 16 and 0x2104 is Integer 32. Changes made to either object affect both. Copley Controls 145
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