SYNAPTICON SOMANET Node 400 User Manual

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.
Synapticon Documentation
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SYNAPTICON SOMANET Node 400 Specifications

General

Brand	SYNAPTICON
Model	SOMANET Node 400
Category	Servo Drives
Language	English