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 />
CURRENT LOOP GAINS INDEX 0X2380<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - YES -<br />
Description<br />
This object contains the various gain values used to optimize the current control loop. Sub-in<strong>de</strong>x 0<br />
contains the number of sub-elements of this record.<br />
CURRENT LOOP PROPORTIONAL GAIN INDEX 0X2380, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This gain value is multiplied by the current error value. The current error is the difference between<br />
the <strong>de</strong>sired current and the actual current.<br />
CURRENT LOOP INTEGRAL GAIN INDEX 0X2380, SUB-INDEX 2<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This gain value is multiplied by the integral of current error.<br />
CURRENT OFFSET INDEX 0X2380, SUB-INDEX 3<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW 0.01 amps - YES RF<br />
Description<br />
This offset value is ad<strong>de</strong>d to the comman<strong>de</strong>d motor current. It can be used to compensate for a<br />
directional bias affecting the current loop.<br />
CURRENT LOOP GAINS INDEX 0X60F6<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - YES -<br />
Description<br />
This object is no longer recommen<strong>de</strong>d. Use object 2380 (p.153).This object contains the various<br />
gain values used to optimize the current control loop. Sub-in<strong>de</strong>x 0 contains the number of subelements<br />
of this record.<br />
CURRENT LOOP PROPORTIONAL GAIN INDEX 0X60F6, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This gain value is multiplied by the current error value. The current error is the difference between<br />
the <strong>de</strong>sired current and the actual current.<br />
CURRENT LOOP INTEGRAL GAIN INDEX 0X60F6, SUB-INDEX 2<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - 0 – 32,767 YES RF<br />
Description<br />
This gain value is multiplied by the integral of current error.<br />
Copley Controls 153