Table of Contents - TG Drives

EXTENDED REGISTER GROUPS
Reg, PID regulator
Compensate for viscous friction. It produces a feed forward torque
proportional to speed reference.
Reg.ViscSF 23 0..255 RW
Scale factor for viscous friction compensation.
Reg.TorqCLim 24 0..8191 RW
Continuous torque or (for PM-synchronous-motors: current) limit.
100% Torque = 8191.
This limit will be used after Reg.TorqTime has expired.
Reg.TorqTime 25 0..8191 RW
Timer for activation of REG.TorqCLim.
Reg.DerrFltSF 26 0..7 RW
Low pass filter limiting the noise at the SpdErr signal.
Reg.DerrFltSF = 0,
y(n) = x(n). Default at startup, which means no filter.
Reg.DerrFltSF = 1,
y(n) = 0.5*y(n-1)+0.5*x(n), time const ~ 2,5 ms.
Reg.DerrFltSF = 2,
y(n) = 0.75*y(n-1)+0.25*x(n) time const ~ 8 ms.
Reg.DerrFltSF = 3,
y(n) = 0.875*y(n-1)+0.125x(n) time const ~ 18 ms.
Reg.DerrFltSF = 4, ~ 40 ms.
Reg.DerrFltSF = 5, ~ 75 ms.
Reg.TrqLimFlgs 27 0..3 R
Bit information on Torqlimit status. Bit 0 (1) indicates if the output
torque is limited by Reg.TorqLim. Bit 1(2) indicates if the
dynamic limit has been activated, that is if the output is limited by
Reg.TorqCLim.
Reg.PosRef 28 -2 31 ..2 31 -1 R
The actual reference value used by the regulator. Normally this is the
sum of PG.Apos and Gear.PosRef. In the case
of disconnected
Profile Generator, the Pg.DconnAPos is used instead.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
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