Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Controller Kd 0x2011:3 REAL 32 0 65535 0 readwrite
The D-gain of the PID Velocity Control Loop [rpm*s/inc]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Controller
integral limit
0x2011:4 UDINT 32 0 0 mNm readwrite
Integrator limitation for anti-windup. Technique used is clamping and it prevents the integral term from
accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit
DEACTIVATED), please set the maximal values for your integral limit manually.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Encoder source 0x2011:5 USINT 8
No encoder 0
Encoder 1 1
Encoder 2 2
readwrite
Select which encoder should be used for velocity control.
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