Festo MTR-DCI, Manual

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B. Supplementary information
B−33
Festo P.BE−MTR−DCI−IO−EN en 0606b
Position_Control_Parameter_Set
CI access 60FBh 12h...15h,
17h, 20h Array uint16 rw
Description Control parameters as well as parameters for quasi−absolute position
registering"
Write only in service cases.
Gain Position 60FBh 12h uint16 rw
Gain position controller
Value range: 1...200
Default:
MTR−DCI−32: 60
MTR−DCI−42/52/62: 35
Gain Velocity
(speed gain)
60FBh 13h uint16 rw
(speed gain)
Gain speed controller
Value range: 100...500
Default:
MTR−DCI−32: 500
MTR−DCI−42/52: 230 MTR−DCI−62: 200
I−Fraction Velocity
(I share of speed) 60FBh 14h uint16 rw
(I−share of speed)
I−share speed controller
Value range: 100...500
Default:
MTR−DCI−32: 500
MTR−DCI−42/52: 320 MTR−DCI−62: 150
Gain Current 60FBh 15h uint16 rw
Gain current controller
Value range:
MTR−DCI−32: 200...1000
MTR−DCI−42/52: 200...800
Default:
MTR−DCI−32: 1000
MTR−DCI−42/52: 400 MTR−DCI−62: 300
Gain Velocity
Trajectory
60FBh 17h uint16 rw
Trajectory
Gain speed controller trajectory generator
Values: 1, 2
Default:
MTR−DCI−32: 1
MTR−DCI−42/52/62: 2