3.1.9.1.53 0x2013 Gain scheduling
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Enabled 0x2013:1 BOOL 1
Disabled 0
Enabled 1
readwrite
Enables or disables the gain scheduling feature.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Threshold
velocity 0
0x2013:2 UDINT 32 0 0 rpm readwrite
Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond
it, linear interpolation begins.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Position loop Kp
0
0x2013:3 REAL 32 0 65535 0 readwrite
The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Position loop Ki
0
0x2013:4 REAL 32 0 65535 0 readwrite
The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Position loop Kd
0
0x2013:5 REAL 32 0 65535 0 readwrite
The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Position loop
integral limit 0
0x2013:6 UDINT 32 0 0 rpm readwrite
The integrator limit of the Position Control Loop of area 0 (low velocity, below threshold velocity 0).
Technique used for preventing the windup is clamping and it prevents the integral term from accumulating
above or below pre-determined bounds. Limit should always be set in the driving shaft units, especially
important, when the gear box is used in the setup.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Velocity loop Kp
0
0x2013:7 REAL 32 0 65535 0 readwrite
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