CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 4: Control Loop Configuration<br />
VELOCITY LOOP MAXIMUM DECELERATION INDEX 0X2101<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW 1000 enc counts / sec 2<br />
0 – 100,000,000 YES RF<br />
Description<br />
This acceleration value limits the maximum rate of change of the comman<strong>de</strong>d velocity input to the<br />
velocity loop. This limit only applies when the absolute value of the velocity change is negative (i.e.<br />
the speed is <strong>de</strong>creasing in either direction).<br />
VELOCITY LOOP EMERGENCY STOP DECELERATION INDEX 0X2102<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW 1000 enc counts / sec 2<br />
0 – 100,000,000 YES RF<br />
Description<br />
The <strong>de</strong>celeration rate used during the time that the amplifier is trying to actively stop a motor<br />
before applying the brake output.<br />
Also known as the Velocity Loop Fast Stop Ramp.<br />
Note that this feature is not used when the position loop is driving the velocity loop. In that case,<br />
the trajectory generator's abort acceleration is used.<br />
VELOCITY LOOP – MAXIMUM VELOCITY INDEX 0X2103<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF<br />
Description<br />
This velocity value is a limit on the comman<strong>de</strong>d velocity used by the velocity loop.<br />
Also known as the Velocity Loop Velocity Limit.<br />
The velocity loop's comman<strong>de</strong>d velocity can be generated by several sources, including the output<br />
of the position loop. Velocity Loop-Maximum Velocity allows that velocity to be limited to a<br />
specified amount.<br />
VELOCITY ERROR WINDOW – PROFILE POSITION INDEX 0X2104<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF<br />
Description<br />
Also known as the Velocity Tracking Window, this object <strong>de</strong>fines the velocity loop error window. If<br />
the absolute velocity error exceeds this value, then the velocity window bit of the Manufacturer<br />
Status Register object (in<strong>de</strong>x 0x1002, p. 60) is set. The Velocity Window bit will only be cleared<br />
when the velocity error has been within the Velocity Error Window for the timeout period <strong>de</strong>fined in<br />
the Velocity Error Window Time object (in<strong>de</strong>x 0x2120, p. 67).<br />
VELOCITY ERROR WINDOW – PROFILE VELOCITY INDEX 0X606D<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW 0.1 counts/sec 0 – 65,535 YES RF<br />
Description<br />
Object 606D holds the same value as in<strong>de</strong>x 0x2104. It is inclu<strong>de</strong>d because the <strong>CANopen</strong> Profile<br />
for Drives and Motion Control (DSP 402) mandates it for support of profile velocity mo<strong>de</strong><br />
operation. In the Copley Controls implementation, 0x2104 and 0x606D differ only in the data type.<br />
Object 0x606D is unsigned 16 and 0x2104 is Integer 32. Changes ma<strong>de</strong> to either object affect<br />
both.<br />
Copley Controls 145