SYNAPTICON SOMANET Circulo 7 - Page 787

The P-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/rpm]
Name Index:Sub Type Bit
Size
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Unit Access PDO
Mapping
Velocity loop Ki
0
0x2013:8 REAL 32 0 65535 0 readwrite
The I-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/(rpm*s)]
Name Index:Sub Type Bit
Size
Min
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Max
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Default
Data
Unit Access PDO
Mapping
Velocity loop
Kd 0
0x2013:9 REAL 32 0 65535 0 readwrite
The D-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]
Name Index:Sub Type Bit
Size
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Unit Access PDO
Mapping
Velocity loop
integral limit 0
0x2013:10 UDINT 32 0 0 mNm readwrite
The integrator limit of the Velocity 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.
Name Index:Sub Type Bit
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Unit Access PDO
Mapping
Threshold
velocity 1
0x2013:11 UDINT 32 0 0 rpm readwrite
Velocity that determines the upper threshold. Above this value, controller gains set 1 is used. Up to this
velocity linear interpolation is performed.
Name Index:Sub Type Bit
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Unit Access PDO
Mapping
Position loop
Kp 1
0x2013:12 REAL 32 0 65535 0 readwrite
The P-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/inc]
Name Index:Sub Type Bit
Size
Min
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Data
Default
Data
Unit Access PDO
Mapping
Position loop Ki
1
0x2013:13 REAL 32 0 65535 0 readwrite
The I-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/(inc*s)]
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Position loop
Kd 1
0x2013:14 REAL 32 0 65535 0 readwrite
The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]
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