Infranor XtrapulsPac - Page 234

234
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
Position Control
0x307B 0 PosRgEna
Modulo configuration
0x607B PosRange Position Limit
1 PosRgMin
2 PosRgMax
0x60FB Pos_CTRL Position Control Parameters Set
1 PregType
2 KPp
3 KFp
4 KAv
5 KBv
0x30FC PosLpmon Pos Loop monitoring
1 PosRef
2 PosFB
3 Vref
0x6062 PosDem Position Demand Value (user position unit)
0x60B0 PosOfs Position Offset (user position unit)
0x6063 IntPos Position Actual Value (user position unit)
0x6064 ActPos Actual position (user position unit)
0x6065 PosErWin
Following Error Window (user position unit)
0x3065 FWctrl
Following Error Error control
0x60F4 PosErr Following Error Actual Value
External Feedforward
0x31FF FForward External Feedforward
Auto-tuning
0x3425 0 Autotune Auto-tuning parameters
1 ATbwidth
2 ATtype
3 ATselect
4 ATappl
0x3426 0 ATstart Auto-tuning
0x3427 0 KsDig
Error Control
0x3022 0 Error Error monitoring
1 Error1
2 Error2
3 Error3
0x3023 0 ErrCode
1 ErrState
2 LastErr
3 PrevErr
0x3024 0 Warning Warning
0x3025 0 Err_Ctrl Error control (mask)
1 ErrMask1
2 ErrMask2
3 Stop1Mk1
4 Stop1Mk2
5 Stop3Mk1
6 Stop3Mk2
0x3404 0 Iprotect I²t monitoring/parameter
1 I2tMode
2 I2t
3 Imotor