User`s manual

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual
C27750-001 PAGE 5-59
ACCELERATION LIMITING
acceleration_limit 0x6510 17 no f32 r/w 1000000 0 - rad/s
2
C A 1335
deceleration_limit 0x6510 23 no f32 r/w 1000000 0 - rad/s
2
C A 1668
deceleration_limit_-_quickstop 0x6510 25 no f32 r/w 1000000 0 - rad/s
2
C A 1670
deceleration_limit_-_fault 0x6510 26 no f32 r/w 1000000 0 - rad/s
2
C A 1671
velocity_command_acceleration_limited 0x6510 13 yes f32 r - - - incs/Tsamp N A 1157
velocity 0x6510 10 yes f32 r - - - incs/Tsamp N A 1151
velocity_filtered 0x6510 15 yes f32 r - - - incs/Tsamp N A 1165
VELOCITY LIMITING
velocity_maximum 0x6510 28 no f32 r/w 1000 0 20000 rad/s C A 1800
velocity_limit 0x6510 30 yes f32 r/w 1000 0 20000 rad/s N A 1802
VELOCITY LOOP FILTER
current_demand_velocity_comp_output 0x60F7 10 yes f32 r - - - Amps. N A 1120
current_demand_vel_loop_filter_output 0x60F7 11 yes f32 r - - - Amps N A 1122
velocity_loop_rate_divider 0x60F9 1 no s16 r/w 4 1 10 none C A 1136
switching_frequency 0x60F7 1 no u32 r - - - Hz N A 1194
velocity_loop_filter_coefficient_a1 0x25C1 1 no f32 r/w 0 - - none C A 1351
velocity_loop_filter_coefficient_a2 0x25C1 2 no f32 r/w 0 - - none C A 1352
velocity_loop_filter_coefficient_a3 0x25C1 3 no f32 r/w 0 - - none C A 1353
velocity_loop_filter_coefficient_a4 0x25C1 4 no f32 r/w 0 - - none C A 1354
velocity_loop_filter_coefficient_b0 0x25C1 5 no f32 r/w 1 - - none C A 1355
velocity_loop_filter_coefficient_b1 0x25C1 6 no f32 r/w 0 - - none C A 1356
velocity_loop_filter_coefficient_b2 0x25C1 7 no f32 r/w 0 - - none C A 1357
velocity_loop_filter_coefficient_b3 0x25C1 8 no f32 r/w 0 - - none C A 1358
velocity_loop_filter_coefficient_b4 0x25C1 9 no f32 r/w 0 - - none C A 1359
velocity_loop_filter_mode 0x25C1 10 no u16 r/w 1 1 2 none C A 1360
VELOCITY FEEDBACK FILTER
velocity_filter_cutoff_factor 0x6510 14 no f32 r/w 0.25 0 100 none C A 1164
velocity 0x6510 10 yes f32 r - - - incs/Tsamp N A 1151
velocity_filtered 0x6510 15 yes f32 r - - - incs/Tsamp N A 1165
CURRENT LOOP
current_loop_d-axis_i-gain 0x60F6 1 no f32 r/w 6.35404981 0 - V/A/Tsamp C A 1272
current_loop_d-axis_p-gain 0x60F6 2 no f32 r/w 32.02666839 0 - V/A C A 1274
current_loop_q-axis_i-gain 0x60F6 3 no f32 r/w 6.35404981 0 - V/A/Tsamp C A 1277
current_loop_q-axis_p-gain 0x60F6 4 no f32 r/w 32.02666839 0 - V/A C A 1279
current_loop_alpha_observer_i-gain 0x60F6 9 no f32 r/w 0.01394492 0 - V/A/Tsamp C A 1288
current_loop_alpha_observer_p-gain 0x60F6 10 no f32 r/w 0.19933257 0 - V/A C A 1290