Infranor XtrapulsPac - Page 109

109
X
trapulsPac - User Guide
Chapter 3 – Reference
Inde
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0x606C
Name Velocity Actual Value
Object Code VAR
Data Type Integer32
Object Class all
Access ro
PDO Mapping Yes
Unit User Velocity Unit
The "Velocity Actual Value" gives the value of the actual motor velocity in user unit. This signal is filtered by a low-
pass filter defined by 0x306C.
Object 0x3069 gives the same Actual Velocity but in rpm unit.
Object 0x30F8-2 gives the actual velocity without the low-pass filter.
Index 0x306C
Name Actual Velocity Filter
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Unit 0.1Hz
Value Range
Default Value 800 (80Hz)
The filter is applied on “Velocity Actual Value” (0x606C,0)
Actual Velocity without this filtering: “Velocity Feedback” (0x30F8,2)
Index 0x306D
Name Speed Following Error
Object Code VAR
Data Type Unsigned32
Object Class pv pp ip hm
sq sm se gb cm
Access rw
PDO Mapping Yes
Unit inc/s
Value Range 0..0xFFFFFFFF
Default Value 0xFFFFFFFF
This object defines the tolerance for the speed error value:
| Speed Demand – Actual Speed | < Speed Following Error
If the value of the parameter is FFFF FFFFh, the speed following error control is not operating.