Infranor XtrapulsGem User Manual

110
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
Position Control Parameter Set
Index 0x60FB
Name Position Control Parameter Set
Object Code RECORD
Number of Elements 5
Value Description
Sub Index 1
Description Regulator Type
Data Type Unsigned16
Object Class pp ip hm eg
Access rw
PDO Mapping No
Default Value 0
Sub Index 2
Description Proportional Position Gain
Defines the proportional gain that acts upon the position error (KP1).
Data Type Unsigned16
Object Class pp ip hm eg
Access rw
PDO Mapping No
Value Range 0..65535
Default Value
Sub Index 3
Description Feedforward Speed 1 Gain
Defines the feedforward term amplitude (KF1) corresponding to the speed input
command (derivation of the position input command). This feedforward term allows
reducing the following error during the motor acceleration and deceleration phases.
Data Type Unsigned16
Object Class pp ip hm eg
Access rw
PDO Mapping No
Value Range 0.. 65535
Default Value
Sub Index 4
Description Feedforward Acceleration Gain
Defines the feedforward acceleration corresponding to the acceleration input
command (second derivation of the position input command).This feedforward term
allows reducing the following error during the motor acceleration and deceleration
phases.
Data Type Unsigned16
Object Class pp ip hm eg
Access rw
PDO Mapping No
Value Range 0.. 65535
Default Value

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English