User`s manual

APPENDIX F – DEVICENET
TM
MEZZANINE CARD F-4
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
F.10 Parameter List
Parameter Name Number Type Default Minimum Maximum Class ID Attr. Description
MODEL_REVISION_out 64001 u32 0 0 ULONG_MAX 0x71 0x02 model date revision output
PARAM_UPDATE_in 64002 u16 0 0 1 0x71 0x03
input request to update
parameter calculations
STATE_IDB_out 64003 f32 0 0 FLT_MAX 0x71 0x04
output monitor of Backgound
stateflow state number
DRV_FFDTRQ_par 64005 f32 0 0 60 0x71 0x06 friction bias (Apk)
DRV_GRVTRQ_par 64006 f32 0 0 60 0x71 0x07 gravity bias (Apk)
DRV_KAFF_par 64008 f32 0 0 1 0x71 0x09
acceleration feedforward gain
(Apk/rad/sec^2)
DRV_KVFF_par 64009 f32 0 0 5 0x71 0x0A velocity feedforward gain
DRV_PLPGAIN_par 64011 f32 3 0 200 0x71 0x0C position loop gain (hz)
DRV_VLTI_par 64015 f32 0.02 0.00025 5 0x71 0x10 velocity loop time constant (sec)
DRV_VLPGAIN_par 64016 f32 0.05 0 25 0x71 0x11
velocity loop proportional gain
(Apk/rad/sec)
FILBW_par 64017 f32 100 50 500 0x71 0x12 torque filter bandwidth (hz)
FILORDER_par 64018 u16 2 1 2 0x71 0x13 torque filter order: 1st or 2nd
FILZETA_par 64019 f32 0.7 0.2 1.5 0x71 0x14
torque filter 2nd order dampening
factor
MDL_PAR_RET_out 64022 u16 0 0 UINT_MAX 0x71 0x17
output from Model; return value
from mdl_par_write and read.
STATE_IDF_out 64034 f32 0 0 FLT_MAX 0x71 0x23
output monitor of Foregound
stateflow state number
PROFILE_VEL_LIM_par 64035 f32 500 0 FLT_MAX 0x71 0x24
Trajectory Profile velocity limit
(rpm)
PROFILE_ACC_LIM_par 64036 f32 0.1 0 FLT_MAX 0x71 0x25
Trajectory Profile acceleration
limit (g's)
REQUEST_
POS_CMND_ENABLE_in
64044 u16 0 0 UINT_MAX 0x71 0x2D
Request position command
Enable
HEART_BEAT_PERIOD_par 64047 f32 0.25 0 FLT_MAX 0x71 0x30
Heart Beat LED ON-OFF period
(sec)
MOTION_FLT_out 64051 u16 0 0 UINT_MAX 0x71 0x34 motion error fault (composite)
MODEL_FLT_out 64053 u08 0 0 UCHAR_MAX 0x71 0x65 model fault out
DRV_VLIGAIN_par 64054 f32 0.05 0 25 0x71 0x66 velocity Integral gain
MDL_CORE_FLT_out 64070 u08 0 0 1 0x71 0x74 MDL_CORE_FLT_out