Copley Controls Serial Encoder Guía de usuario descargar pdf (Pagina 16)

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

0x32

0x33

0x432

0x2240

INT32

Actual Motor Position. Also known as Motor Encoder Position. For dual encoder

systems, this parameter gives the motor encoder position. For single encoder

systems, this is the same as the Actual Position Parameter (0x17). Units: counts.

0x33

0x34

0x433

0x2382:2

U16

Position Loop Velocity Feed Forward (Vff). The Vff value is multiplied by the

Instantaneous Commanded Velocity (0x3B).generated by the trajectory generator.

The product is added to the output of the position loop.

This gain is scaled by 1/16384. Therefore, setting this gain to 0x4000 (16384) would

cause the input velocity to be multiplied by 1.0, and the result added to the output of

the position loop.

0x34

0x35

0x434

0x2382:3

U16

Position Loop Acceleration Feed Forward (Aff). The Aff value is multiplied by the

Instantaneous Commanded Velocity (0x3B) generated by the trajectory generator.

The product is added to the output of the position loop.

0x35

0x36

0x435

0x60F4

INT32

Position Loop Error. The difference between Actual Position (0x17) and Commanded

Position (0x2D). Units: counts.

0x36

0x37

0x436

0x2100

U32

Velocity Loop Acceleration Limit. Used by the velocity loop limiter. Not used when

velocity loop is controlled by the position loop. Units: 1000 counts/s

0x37

0x38

0x437

0x2101

U32

Velocity Loop Deceleration Limit. Used by the velocity loop limiter. Not used when

velocity loop is controlled by the position loop. Units: 1000 counts/s

0x38

0x39

0x438

0x221C

INT16

Actual Motor Current. This current is calculated based on both the D and Q axis

currents. Units: 0.01 A.

0x39

0x3A

0x439

0x2102

U32

Velocity Loop Emergency Stop Deceleration Rate.

Units: 1000 counts/s

0x3A 0x3B 0x43A 0x2103 RF INT32 Velocity Loop Velocity Limit. This value is a limit on the commanded velocity used by

the velocity loop. Note that this limit is always in effect. Units 0.1 counts/s.

0x3B 0x3C 0x43B 0x2250 R* INT32 Instantaneous Commanded Velocity. This velocity is the output of the trajectory

generator and is the value by which the position loop’s velocity feed forward is

multiplied. Units: 0.1 encoder counts/s.

0x3C

0x3D

0x43C

0x2251

U32

Instantaneous Commanded Acceleration. This acceleration is the output of the

trajectory generator and is the value by which the position loop’s acceleration feed

forward is multiplied. Units: 10 encoder counts/s

Copley Controls Page 16

1 2 ... 11 12 13 14 15 16 17 18 19 20 21 ... 76 77

Comentarios a estos manuales

Sin comentarios

Copley Controls Serial Encoder Guía de usuario Pagina 16

Comentarios a estos manuales