CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 4: Control Loop Configuration VELOCITY LOOP INTEGRAL GAIN INDEX 0X2381, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,767 YES RF Description This gain value is multiplied by the integral of the velocity loop error. VELOCITY LOOP ACCELERATION FEED FORWARD INDEX 0X2381, SUB-INDEX 3 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,767 YES RF Description This gain value is multiplied by the Instantaneous Commanded Acceleration (index 0x2251, p. 137) from the trajectory generator. The result is added to the output of the velocity loop. VELOCITY LOOP GAIN SCALER INDEX 0X2381, SUB-INDEX 4 Type Access Units Range Map PDO Memory Integer 16 RW - 0 – 32,767 YES RF Description Velocity loop output is shifted this many times to arrive at the commanded current value. Positive values result in a right shift while negative values result in a left shift. The shift allows the velocity loop gains to have reasonable values for very high or low resolution encoders. Recommended values for this parameter are 8, 0 or -1. VELOCITY LOOP VI DRAIN (INTEGRAL BLEED) INDEX 0X2381, SUB-INDEX 5 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,000 YES RF Description Modifies the effect of velocity loop integral gain. The higher the Vi Drain value, the faster the integral sum is lowered. VELOCITY LOOP COMMAND FEED INDEX 0X2381, SUB-INDEX 6 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 – 32,000 YES RF Description The input command (after limiting) to the velocity loop is scaled by this value and added in to the output of the velocity loop. VELOCITY LOOP GAINS INDEX 0X60F9 Type Access Units Range Map PDO Memory Record RW - - YES - Description This object is no longer recommended. Use object 0x2381 (p.146).This object contains the various gain values used to optimize the velocity control loop. VELOCITY LOOP PROPORTIONAL GAIN INDEX 0X60F9, SUB-INDEX 1 Type Access Units Range Map PDO Memory Integer 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. Not recommended. Please use 0x2381. Copley Controls 147
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CANopen Programmer's Manual - Maccon.de

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