Isel IMD1, Manual

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Positioning module UVE8112, IMD10 CanOpen
protocol
Following error time window
Index Sub Name Type Attrib Map Default
value
Meaning
6066 00 Following error
timeout g of the following
Unsigned 16 RW Y 10 Time window for the
monitorin
error [milliseconds].
Pos
Inde Type Attrib Map Default
value
Meaning
ition controller parameters
x Sub Name
60FB Position control
param RECORD Parameters of the
position controller.
eters
60FB 00 Number of entries Unsigned 8 CONST N 6 Number of entries.
60FB 01 kp Unsigned 16 RW N 10 Proportional amplification.
60FB 02 ki Unsigned 16 plification. RW N 0 Integral am
60FB 03 kd Unsigned 16 RW N Differential amplification. 100
60FB 04 W
of the
td Unsigned 8 R N 0 Scan time of the D
proportion in units
controller scan time.
60FB 05 kv Unsigned 16 RW N 100
Velocity amplification
factor kv.
60FB 06 Ff Unsigned 8 RW N 0 factor. Feed forward
The parameterisation of the position controller can be carried out by means of the DcSetup
time intervals (Sync time). The drive generates target values for its
p o get position value is achieved in linear at the
e e time
programme. See "Position Controller dialogue box" on page 59.
Interpolated Position Mode – Position control with interpolation
The interpolation principle is easy to apply. At first, the “Interpolation Submode Select” (60C0
h
)
parameter is set to equal 0. Via the parameter “Interpolation Data” (60C1
h
– sub-index 1), the
superordinate control hands over a new target position value (in user-defined units) to the drive
controller in precisely defined
osition contr
nd of th ller so as to make sure that the given tar
interval.
Pos. contr. Interval
Time
Position
SYNC interval
Interpolation target values
Internally calculated target values
Data Data Data
SYNC
P1 P2
P3
P4
P1
P2
P3
P4
P4
In order to launch the interpolation, the Sync signal has to be active and Bit 4 has to be set in the
control word.
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