User`s manual

CHAPTER 5.0 Functional Overview 5-49
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
5.11.5 Control Loop Parameters
Parameter Name Field Number Data Type Access Default Value Minimum Value Maximum Value Units Storage
T
Data Group
POSITION PI COMPENSATOR
position_PI_loop_p-gain 1326 f32 r/w 2.0 0 - 1/s C A
position_PI_loop_i-gain 1327 f32 r/w 0 0 - 1/s
2
C A
position_PI_loop_error 1328 f32 r - - - increments N A
internal_loop_demand 1034 f32 r - - - increments N A
velocity_command_acceleration_limited 1157 f32 r - - - incs/Tsamp N A
POSITION TO COMPENSATOR
position_TO_loop_a-gain 1340 f32 r/w 1000 0 - rad/s
2
C A
position_TO_loop_p-gain 1342 f32 r/w 20 0 - 1/s C A
position_TO_loop_enable_velocity_integrat
or
1350 f32 r/w 6.28 0 6.28 rad C A
position_TO_loop_error 1337 f32 r - - - increments N A
internal_loop_demand 1034 f32 r - - - increments N A
velocity_command_acceleration_limited 1157 f32 r - - - incs/Tsamp N A
POSITION MODE VELOCITY COMPENSATOR
position_mode_velocity_loop_p-gain 1305 f32 r/w 0.05 0 - Nm/rad/s C A
position_mode_velocity_loop_i-gain 1306 f32 r/w 2.0 0 - Nm/rad C A
position_mode_velocity_loop_error 1307 f32 r - - - incs/Tsamp N A
velocity_filtered 1165 f32 r - - - incs/Tsamp N A
current_demand_velocity_comp_output 1120 f32 r - - - Amps. N A
current_max 1093 f32 r - - - Amps N A
VELOCITY MODE COMPENSATOR
velocity_mode_p-gain 1317 f32 r/w 0.05 0 - Nm/rad/s C A
velocity_mode_i-gain 1318 f32 r/w 2 0 - Nm/rad C A
velocity_mode_ie-gain 1319 f32 r/w 0 0 - none C A
velocity_mode_error 1320 f32 r - - - incs/Tsamp N A
velocity_filtered 1165 f32 r - - - incs/Tsamp N A
current_demand_velocity_comp_output 1120 f32 r - - - Amps. N A
Table 5.34 Control Loops Parameter Access Detail (Sheet 1 of 3)