CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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4: Control Loop Configuration <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
VELOCITY LOOP INTEGRAL GAIN INDEX 0X60F9, SUB-INDEX 2<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This gain value is multiplied by the integral of the velocity loop error.<br />
CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use 0x2381.<br />
VELOCITY LOOP ACCELERATION FEED FORWARD INDEX 0X60F9, SUB-INDEX 3<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This gain value is multiplied by the Instantaneous Comman<strong>de</strong>d Acceleration (in<strong>de</strong>x 0x2251, p.<br />
137) from the trajectory generator. The result is ad<strong>de</strong>d to the output of the velocity loop.<br />
CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use 0x2381.<br />
VELOCITY LOOP GAIN SCALER INDEX 0X60F9, SUB-INDEX 4<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - 0 – 32,767 YES RF<br />
Description<br />
Velocity loop output is shifted this many times to arrive at the comman<strong>de</strong>d current value. Positive<br />
values result in a right shift while negative values result in a left shift. The shift allows the velocity<br />
loop gains to have reasonable values for very high or low resolution enco<strong>de</strong>rs.<br />
Recommen<strong>de</strong>d values for this parameter are 8, 0 or -1.<br />
CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use 0x2381.<br />
VELOCITY LOOP VI DRAIN (INTEGRAL BLEED) INDEX 0X60F9, SUB-INDEX 5<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 – 32,000 YES RF<br />
Description<br />
Modifies the effect of velocity loop integral gain. The higher the Vi Drain value, the faster the<br />
integral sum is lowered.<br />
CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use 0x2381.<br />
VELOCITY LOOP COMMAND FEED INDEX 0X60F9, SUB-INDEX 6<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 – 32,000 YES RF<br />
Description<br />
Velocity loop command feed forward. The input command (after limiting) to the velocity loop is<br />
scaled by this value and ad<strong>de</strong>d in to the output of the velocity loop.<br />
CAN ID 0x60F9 is no longer recommen<strong>de</strong>d. Please use 0x2381.<br />
HALL VELOCITY MODE SHIFT VALUE INDEX 0X2107<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This parameter is only used in Hall velocity mo<strong>de</strong>. It specifies a left shift value for the position and<br />
velocity information calculated in that mo<strong>de</strong>.<br />
148 Copley Controls
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