Table of Contents - TG Drives

82
Reg, PID regulator
Reg.IGain
2 -2 31 ..2 31 -1 RW
EXTENDED REGISTER GROUPS
Integral (Speed or Position or Both) feedback gain of the regulator. A
value of 1024 corresponds in 1 unit of Torque generated for 1 unit of
integrated position and/or speed error. Limited by Firmware, not
alarmed if a value is written, only a smaller value is read.
Reg.DGain 3 -2 31 ..2 31 -1 RW
Derivative or Speed feedback gain of the regulator. A value of 1024
corresponds in 1 unit of Torque generated for FS units of speed
error. Limited by Firmware, not alarmed if a value is written, only a
smaller value is read.
Reg.PosErr 4 -2 31 ..2 31 -1 RW
The actual positioning error for the system (in increments).
Reg.IErr 5 -2 31 ..2 31 -1 RW
The actual integrated position and/or speed error for the system.
Reg.SpdErr 6 -32768*FS..32767*FS RW
The actual speed error for the system (in increments/seconds).
Reg.PErrLim 7 0..2 31 -1 RW
Proportional or Position Error limit. This limits the maximum error
signal that is allowed into the regulator. The user can set the upper
level; the lower level is determined by the gain of the regulator.
Reg.IErrLim 8 0..2 31 -1 RW
Integral sum error limit. This limits the maximum error signal that is
allowed into the regulator. The user can set the upper level; the
lower level is determined by the gain of the regulator.
Reg.DErrLim 9 0..2 31 -1 RW
Derivative or Speed Error limit. This limits the maximum error signal
that is allowed into the regulator. The user can set the upper level;
the lower level is determined by the gain of the regulator.
Reg.Torque 10 -32768..32767 R(W)
i
The generated Torque. For PM-synchronous motors, this is
proportional to motor current.
100% torque = 10V DC current command to the drive = 32767.
Note:
The value will be 4 times the value of Reg.TorqLim. when
operating in limit.
Reg.TorqLim 11 0..8191 RW
Torque or (for PM-synchronous-motors: current) limit.100% Torque
= 8191.
This is also torque limitation for the induction motor regulator, to
read, use the Motor. group.
Reg.TorqPLim 12 -8191..8191 RW
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001