SYNAPTICON SOMANET Circulo 7 - Page 785

Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Position loop
integral limit
0x2012:4 UDINT 32 0 0 rpm 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. 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
0x2012:5 REAL 32 0 65535 0 readwrite
The P-gain of the PID Velocity Loop Controller [mNm/rpm]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Velocity loop Ki 0x2012:6 REAL 32 0 65535 0 readwrite
The I-gain of the PID Velocity Controller [mNm/(rpm*s)]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Velocity loop
Kd
0x2012:7 REAL 32 0 65535 0 readwrite
The D-gain of the PID Velocity Loop Controller [mNm*s/rpm]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Velocity loop
integral limit
0x2012:8 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 0x2012:9 USINT 8
No encoder 0
Encoder 1 1
Encoder 2 2
readwrite
Select which encoder should be used for position control.
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