Isel IMD1, Руководство пользователя

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CanOpen protocol
Positioning module UVE8112, IMD10
Velo
Ind
city sensor selection
ex Sub Name Type Attrib Map Default
value
Meaning
606
ode sensor (0 = velocity is
A 00 Sensor selection:
C
Signed 16 RO N 0 Type of the velocity
determined on the basis
of the position encoder).
city window
Name Type
Velo
Index Sub Attrib Map Default
value
Meaning
Velocity window Unsigned 16 RW N 100 Velocity window for the
t of the target
user-defined
units / s.
606D 00
achievemen
velocity in
Velo
Inde e Attrib Map Default
value
Meaning
city window time
x Sub Nam Type
606E 00 Velocity window time RW N 1 Time frame for the
achievement of the target
velocity in milliseconds. Unsigned 16
Veloc controller paramete
Index Sub Name pe Attrib Map Default
value
Meaning
ity rs
Ty
60F9 Velocity control RECORD Parameters of the velocity
parameters controller.
60F9 00 Number of entries ed 8 ntries. Unsign CONST N 6 Number of e
60F9 01 kp Unsigned 16 RW N 50 Proportional amplification.
60F9 02 ki Unsigned 16 RW N 5 Integral amplification.
60F9 03 kd Unsigned 16 RW N 1000 Differential amplification.
60F
proportion in units of the
controller scan time.
9 04 td Unsigned 8 RW N 0 Scan time of the D
60F9 05 e_limit 16 RW N 400 Following limitation. Unsigned
60F9 nsigned 8 RW N 0 Method of the following
limitation. 06 hard_limit U
For the setting of the velocity controller, see "Velocity Controller dialogue box" on page 54. For the
optimisation of the following limitation value, see “Current Controller dialogue box” on page 49.
Profile Position Mode – position control with ramp profile
In the Profile Position Mode, a motion segment can be allocated to the drive module which the
controller automatically realises. During the processing of a segment, the parameters for the next
movement can already be set, so that individual segments can be lined up seamlessly.
The setting of the individual movement segments is realised via the parameters Target position,
Segment velocity, Final velocity and Acceleration , the same values being used for acceleration
and braking ramps.
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