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Infranor XtrapulsGem User Manual

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111
X
trapulsPac - User Guide
Chapter 3 – Reference
Sub Index 5
Description Feedforward Speed 2 Gain
This gain value is equal to the damping speed gain value + Feedforward friction gain
value. The feedforward friction gain allows cancelling the load viscous friction effect
(load viscous friction torque is proportional to axis speed).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
Index 0x6062
Name Position Demand Value
Object Code VAR
Data Type Integer32
Object Class all
Access ro
PDO Mapping Yes
Unit position unit
Default Value -
This object gives the internal position value in entry of position loop.
Index 0x60F4
Name Following Error Actual Value
Object Code VAR
Data Type Integer32
Object Class pp ip hm
sq sm se gb cm
Access rw
PDO Mapping Yes
Unit User position unit
Default Value -
This object gives the difference between position demand value and position actual value:
FollowingErrorActualValue = PosDemand - PosActual
Index 0x6064
Name Actual Position
Object Code VAR
Data Type Integer32
Object Class all
Access ro
PDO Mapping Yes
Unit position unit
Default Value -
This object gives the actual axis position. If the position sensor is resolver, then the value is resolver position
(0x3109,0). If the position sensor is encoder, then the value is encoder position (0x3129,0).
The sensor position is defined by object 0x306A,0.

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Infranor XtrapulsGem Specifications

General IconGeneral
BrandInfranor
ModelXtrapulsGem
CategoryController
LanguageEnglish

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