ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems 277
16. Parameters K
16.1 Parameters K for DSC2P and DSC2V
K Alias
Val
<P1>
Bit #
<P1>
Comment for parameters K
and <P1> of the DSC2P and DSC2V
Def. Val
<P1>
Min. Val
<P1>
Max. Val
<P1>
DSC2P and DSC2V parameters
K1 Position loop proportional gain 100 0 2147483647
K2 Position loop speed feedback gain 20 0 2147483647
K3 Position loop force feedback gain 0 0 2147483647
K4 Position loop integrator gain 0 0 2147483647
K5 Position loop anti-windup gain 10 0 2147483647
K6 Position loop integrator limitation 1073741823 0 2147483647
K7 Position loop integrator mode 0 0 2
0 Position loop integrator gain (K4) always on
2 Position loop integrator gain (K4) always off
K8 Position loop speed filter 0 0 511
K9 Force reference filter on the position regulator output 0 0 511
K11 Speed smooth filter for TTL encoder 0 0 256
K20 Position loop speed feedforward gain 0 0 2147483647
K21 Position loop acceleration feedforward gain 0 0 2147483647
K23 Commutation phase advance according to the speed 0 0 65535
K27
Maximum position range limit for rotary movement.
Depth 0 for primary encoder and depth 1 for secondary
encoder
1 0 2000000000
K30
Absolute tracking error limit. When the tracking error is
greater than K30, the controller generates the error
M64=23
10000000 0 1073741823
K31
Absolute velocity limit. When the velocity is greater than
K31, the controller generates an overspeed error
M64=24
100000000 0 2147483647
K32
Limit switch and home switch inversion. Activates the
dynamic brake
0063
1 0 Enables the use of the limit switches
2 1 Inverts home switch
4 2 Inverts limit switches from the encoder
8 3 Inverts limit switches
16 4
Enables the use of the dynamic braking controlled by
the transistors
32 5
Enables limitation of K60/K31 according to DIN. K178:2
defines the mask of the DIN that should be at 1 to limit
K60 and K31. K179:2 defines the mask of the DIN that
should be at 0 to limit K60 and K31. K60:3 and K31:3
are the limitation
K33 Enables input mode 125 0 125
0
Enabled signal is necessary to power on the controller
on DIN1. In this case this input must be at 1 when a
PWR.#=1 command is executed. If this input is cleared,
the controller generates an error (M64=26)
125
Enabled signal not used (DIN1 is not taken into
account). PWR.#=1 command switches the power on
the motor
K34 Minimum software position limit 0 -2147483648 2147483647
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