CANopen Programmer's Manual - Maccon.de

4: Control Loop Configuration CANopen Programmer’s Manual
VELOCITY ERROR WINDOW TIME INDEX 0X2105
Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0- 5,000 YES RF
Description
Also known as Velocity Tracking Time. When the absolute velocity error remains below the limit
set in the Velocity Error Window – Profile Position object (index 0x2104, p. 145) the Velocity
Window bit (bit 28) in the Manufacturer Status Register object (index 0x1002, p. 60) is cleared.
VELOCITY ERROR WINDOW TIME INDEX 0X606E
Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0- 5,000 YES RF
Description
Object 606E holds the same value as 0x2105. It is included because the CANopen Profile for
Drives and Motion Control (DSP 402) mandates it for support of profile velocity mode operation.
Changes made to either 0x606E or 0x2105 affect both objects.
LIMITED VELOCITY INDEX 0X2230
Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts/sec - YES -
Description
This is the commanded velocity after it passes through the velocity loop limiter and the velocity
command filter. It is the velocity value that the velocity loop will attempt to achieve.
PROGRAMMED VELOCITY COMMAND INDEX 0X2341
Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec -500,000,000 – 500,000,000 YES RF
Description
Gives the commanded velocity value when running in programmed velocity mode (see mode 11,
Desired State object, p. 65, and Alternative Control Sources Overview, p. 225).
VELOCITY LOOP GAINS INDEX 0X2381
Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object contains the various gain values used to optimize the velocity control loop.
VELOCITY LOOP PROPORTIONAL GAIN INDEX 0X2381, SUB-INDEX 1
Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the velocity loop error. The velocity loop error is the difference
between the desired and actual motor velocity.
146 Copley Controls