User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-66 C27750-001
7.19.1 Velocity Control 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
INPUT PARAMETERS
ds402 velocity window 0x606D 0 yes u16 r/w 0 - - Vel units C A 4229
ds402 velocity threshold 0x606F 0 yes u16 r/w 0 - - Vel units C A 4230
OUTPUT PARAMETERS
ds402 velocity demand value 0x606B 0 yes s32 r 0 - - Vel units N A 4231
ds402 velocity actual value 0x606C 0 yes s32 r 0 - - Vel units N A 4232
ds402 velocity sensor actual value 0x6069 0 yes s32 r 0 - - Incs/sec N A 4233
VELOCITY CONTROL PARAMETER SET
velocity loop rate divider 0x60F9 1 no s16 r/w 1 1 - none C A 1136
position mode velocity loop p-gain 0x60F9 2 no f32 r/w 0.05 0.0 - Nm/rad/s C A 1305
position mode velocity loop i-gain 0x60F9 3 no f32 r/w 2.0 0.0 - Nm/rad C A 1306
position mode velocity loop error 0x60F9 4 yes f32 r - - - Inc/Tsamp N A 1307
velocity mode p-gain 0x60F9 5 no f32 r/w 0.05 0.0 - Nm/rad/s C A 1317
velocity mode i-gain 0x60F9 6 no f32 r/w 2.0 0.0 - Nm/rad C A 1318
velocity mode ie-gain 0x60F9 7 no f32 r/w 0.0 0.0 - none C A 1319
velocity mode error 0x60F9 8 yes f32 r - - - Inc/Tsamp N A 1320