Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Controller Kd
0x2011:3
REAL
32
0
65535
0
readwrite
The D-gain of the PID Velocity Control Loop [rpm*s/inc]
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Controller
integral limit
0x2011:4
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.
Name
Index:Sub Type
Bit
Size
Options
Unit
Access
PDO
Mapping
Encoder source 0x2011:5
USINT
8
No encoder
0
Encoder 1
1
Encoder 2
2
readwrite
Select which encoder should be used for velocity control.
Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01
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