CANopen Programmer's Manual - Maccon.de

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