Isel IMD1, Руководство пользователя

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Positioning module UVE8112, IMD10 CanOpen
protocol
Current controller parameters
Index Sub Name Type Attrib Map Default
value
Meaning
60F6 Torque control
parameters RECORD Parameters of the current
controller.
60F6 00 Number of entries Unsigned 8 CONST N 2 Number of entries.
60F6 01 kp Unsigned 16 RW N 8 Proportional amplification.
60F6 02 Unsigned 16 RW N 30 ki Integral amplification.
60F6 03 Fast sample Unsigned 8 RW N 0
Defines the limitation time
for the current control.
0: Default
1: Fast
See "Current Controller" on page 49.
Profile Velocity Mode – velocity control with ramp profile
here are im t for th ty o f op rthermore, the
Acceleration parameter (6083
h
, see Positioning mode) is used in this mode of operation.
e o t n cele ion the
implemented by the drive. As soon as the target speed parameter changes its value, the motor is
accelerated with the given acceleration or braked, until the new target speed value is achieved. In the
tatus word , Bit10 (Target Reached) is set, if the actual velocity remains in the Velocity Window for
indow Time .
Target v
b p ult
e
The objects given portan e veloci contr l mode o eration. Fu
Th tw parameters Targe velocity a d Ac rat define speed profile which is
S
the Velocity W
elocity
Index Sub Name Type Attri Ma Defa
valu Meaning
60F
user-defined units / s.
F 00 Target velocity Signed 32 RW Y 0 Target velocity in the
profile velocity mode in
Actu
Ind
al velocity
ex Sub Name Type Attrib Map Default
value
Meaning
606C 00 Velocity: actual
value (user-defined
units / s)
Signed 32 RO Y 0 Actual velocity in user-
defined units / s.
Actual target velocity value
Inde ame Ty
lue
Meaning x Sub N pe Attrib Map Default
va
606B 00 value Sig velocity Velocity: target
(Incr./s) ned 32 RO Y 0 Actual target
value in Incr./s.
Actu lue
Index Sub Name Attrib Map Default Meaning
al velocity sensor va
Type
value
6069 00 Velocity sensor:
actual value
Signed 32 RO Y 0 Actual velocity in Incr/s.
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