86
Digitax ST User Guide
Issue: 5
9.18.15 0x6092 Feed_constant
This is used to configure a feed constant. This is the measurement
distance per one revolution of the output shaft of the gearbox. The feed
constant is calculated using the following formula:
feed constant = feed / driving shaft revolutions
Table 9-67 Feed_constant
9.18.16 Basic position control
Basic position control is supported. The position control described here
is used under the interpolated position mode of operation. Table 9-68
lists the objects that are supported:
Table 9-68 Basic position control supported objects
9.18.17 0x6062 Position_demand_value
This read only object is used to provide the currently demanded position
value. The value is given in user defined position units.
Table 9-69 Position_demand_value
9.18.18 0x6064 Position_actual_value
This read only object provides the actual value of the position feedback
device. The value is given in internal units.
Table 9-70 Position_actual_value
9.18.19 0x6080 Max motor speed
Table 9-71 Max motor speed
9.18.20 0x60F4 Following_error_actual_value
This read only object provides the actual value of the following error. The
value is given in user-defined position units.
Table 9-72 Following_error actual_value
9.18.21 0x60FB Position_control_parameter_set object
Table 9-73 Position_control_parameter_set object
The APC position controller kernel is used by the basic internal position
control.
The
position_demand_value
object contains the value supplied by either
the interpolated position mode or the profile position mode (in user
units). It is updated every control loop cycle. This object can be mapped
as cyclic data.
0x6092
Feed_constant
Sub-index 0
Access: RO
Range: N/A
Size:
Unsigned 8
Unit: N/A
Default: 2
Description:
Sub-index 1
Access: RW
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 1
Description: Feed
Sub-index 2
Access: RW
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 1
Description: Shaft revolutions
Index
Name
0x6062
position_demand_value
0x6064
position_actual_value
0x6065
following_error_window
0x6067
position_window
0x6080
max motor speed
0x60F4
following_error_actual_value
0x60FB
position_control_parameter_set
0x6062
Position_demand_value
Access: RO
Range: 0 to
0xFFFFFFFF
Size: signed 32 Unit: N/A
Default: N/A
Description: Used to provide the currently demanded position value.
0x6064
Position_actual_value
Access: RO
Range: 0 to
0xFFFFFFFF
Size: signed 32 Unit: N/A
Default: N/A
Description:
This read only object provides the actual value of the
position feedback device. The value is given in internal
units.
0x6080
Max motor speed
Sub-index 0
Access: RW
Range: 0 to
0xFFFFFFFF
Size: Unsigned 32 Unit: rpm
Default:
3000
Description:
This object indicates the configured maximum allowed
speed for the motor in either direction. It is used to
protect the motor and changing the value of this object
will also change Pr
1.06
. The value is given in rotations
per minute (rpm).
0x60F4
Following_error actual_value
Access: RO
Range: 0 to
0xFFFFFFFF
Size: signed 32 Unit: N/A
Default: N/A
Description:
This read only object provides the actual value of the
following error.
0x60FB
Position_control_parameter_set
Sub-index 0
Access: RO
Range: N/A
Size:
Unsigned 8
Unit: N/A
Default: 2
Description: The number of control loop parameters.
Sub-index 1
Access: RW
Range: 0 to
65535
Size:
Unsigned 16
Unit: 0.01 rad/
s/rad
Default: 2500
Description: The position controller proportional gain.
Sub-index 2
Access: RW
Range: 0 to
65535
Size:
Unsigned 16
Unit: 1 / 1000
Default:
1000 (i.e. a gain of 1)
Description: The position controller speed feed forward gain.
