Infranor XtrapulsGem User Manual

106
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
The choice “minimum position overshoot” allows getting a motor positioning without any overshoot of the target
position. In this case, all feedforward gain values are set at 0, and the motor position is lagging with regard to the
position reference value during the whole motor displacement.
Index Object Name Type Attr.
0x60FB RECORD Position Loop Gain
0x6062 VAR Position Demand Value Integer32 ro
0x60F4 VAR Following Error Actual Value Integer32 ro
0x6063 VAR Actual position* Integer32 ro
0x6064 VAR Actual position Integer32 ro
0x6065 VAR Following Error Window Integer32 rw
0x3065 VAR Following Error Control Unsigned16 rw
0x31FF RECORD External Feedforward rw
0x60F9 RECORD Speed Loop Parameters
0x30F9 ARRAY Speed Error Low-pass Filter Unsigned16 rw
0x30FA VAR Speed measurement filter Unsigned16 rw
0x606C VAR Actual Velocity Integer32 ro
0x306C VAR Actual Velocity Filter Unsigned16 rw
0x60F6 RECORD Current Loop Parameters
0x60B2 VAR Current Offset Integer16 rw
0x6078 VAR Actual Current Integer16 ro
0x3078 VAR Actual Current Filter Unsigned16 rw
Velocity Control Parameter Set
This object defines the parameters of the current loops.
Index 0x60F9
Name Velocity Control Parameter Set
Object Code RECORD
Number of Elements 8
Value Description
Sub Index 1
Description Regulator Type
Data Type Unsigned16
Object Class pp ip hm pv eg
Access rw
PDO Mapping No
Value Range 0..65535
Default Value 0
Sub Index 2
Description Proportional Speed Gain (KPv)
Data Type Unsigned16
Object Class pp ip hm pv eg
Access rw
PDO Mapping No
Value Range 0..65535
Default Value

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English