User`s manual

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW
PAGE 5-58 C27750-001
5.11.5 Control Loop Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
POSITION PI COMPENSATOR
position_PI_loop_p-gain 0x60FB 2 no f32 r/w 2.0 0 - 1/s C A 1326
position_PI_loop_i-gain 0x60FB 3 no f32 r/w 0 0 - 1/s
2
C A 1327
position_PI_loop_error 0x60FB 4 yes f32 r - - - increments N A 1328
internal_loop_demand 0x6510 3 yes f32 r - - - increments N A 1034
velocity_command_acceleration_limited 0x6510 13 yes f32 r - - - incs/Tsamp N A 1157
POSITION TO COMPENSATOR
position_TO_loop_a-gain 0x60FB 6 no f32 r/w 1000 0 - rad/s
2
C A 1340
position_TO_loop_p-gain 0x60FB 7 no f32 r/w 20 0 - 1/s C A 1342
position_TO_loop_enable_velocity_integrator 0x60FB 8 no f32 r/w 6.28 0 6.28 rad C A 1350
position_TO_loop_error 0x60FB 5 yes f32 r - - - increments N A 1337
internal_loop_demand 0x6510 3 yes f32 r - - - increments N A 1034
velocity_command_acceleration_limited 0x6510 13 yes f32 r - - - incs/Tsamp N A 1157
POSITION MODE VELOCITY
COMPENSATOR
position_mode_velocity_loop_p-gain 0x60F9 2 no f32 r/w 0.05 0 - Nm/rad/s C A 1305
position_mode_velocity_loop_i-gain 0x60F9 3 no f32 r/w 2.0 0 - Nm/rad C A 1306
position_mode_velocity_loop_error 0x60F9 4 yes f32 r - - - incs/Tsamp N A 1307
velocity_filtered 0x6510 15 yes f32 r - - - incs/Tsamp N A 1165
current_demand_velocity_comp_output 0x60F7 10 yes f32 r - - - Amps. N A 1120
current_max 0x60F7 3 yes f32 r - - - Amps N A 1093
VELOCITY MODE COMPENSATOR
velocity_mode_p-gain 0x60F9 5 no f32 r/w 0.05 0 - Nm/rad/s C A 1317
velocity_mode_i-gain 0x60F9 6 no f32 r/w 2 0 - Nm/rad C A 1318
velocity_mode_ie-gain 0x60F9 7 no f32 r/w 0 0 - none C A 1319
velocity_mode_error 0x60F9 8 yes f32 r - - - incs/Tsamp N A 1320
velocity_filtered 0x6510 15 yes f32 r - - - incs/Tsamp N A 1165
current_demand_velocity_comp_output 0x60F7 10 yes f32 r - - - Amps. N A 1120