Isel IMD20, Руководство пользователя

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CanOpen protocol
Positioning module IMD20, IMD40
Actual velocity sensor value
Index Sub Name Type Attrib Map Default Meaning
value
6069 00 Velocity sensor:
actual value
Signed 32 RO Y 0 Actual velocity in Incr/s.
Velocity sensor selection
Index Sub Name Type Attrib Map Default Meaning
value
606A 00 Sensor selection:
Code
Signed 16 RO N
(0 = velocity is
determined on the basis
of the position encoder).
0
Type of the velocity
sensor
Velocity window
Name Type Map D
value
Index Sub Attrib efault Meaning
606D 00 Velocity window Unsigned 16 RW N 100 Velocity window for the
t of the target
user-defined
units / s.
achievemen
velocity in
Velocity ndo
b p t
value
wi w time
Index Sub Name Type Attri Ma Defaul Meaning
606E 00 Velocity window time Unsigned 16 RW N 1 the Time frame for
achievement of the target
velocity in milliseconds.
rs Velocity controller paramete
Index Sub Name Type Attrib Map Default
value
Meaning
60F9 Velocity control
parameters RECORD Parameters of the velocity
controller.
60F9 00 Number of entries Unsigned 8 CONST N 6 Number of entries.
60F 01 kp Unsigned 16 RW N 50 Proportional amplification. 9
60F9 02 ki Unsigned 16 RW N 5 Integral amplification.
60F9 03 kd Unsigned 16 amplification. RW N 1000 Differential
Unsigned 8 RW e of the D
proportion in units of the
N 0 Scan tim
controller scan time.
60F9 04 td
60F9 05 e_limit Unsigned 16 RW N 400 Following limitation.
60F
limitation.
9 06 hard_limit Unsigned 8 RW N 0
Method of the following
For the setting of the velocity controller, see "Velocity Controller dialogue box" on page 63. For the
optimisation of the following limitation value, see “Can Interpolation dialogue box” on page 72.
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