Isel IMD20, Руководство пользователя

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Positioning module IMD20, IMD40
CanOpen protocol
word (Bit 13), if the actual position deviates from the target value for the "Following error time
ollowing erro n wind
F ing erro
Index Sub Type Attrib Map Default
lue
Meaning
window" by the "F r positio ow”.
ollow r time window
Name
va
6066 00 Following error Unsigned 16 window for the
e following timeout
RW Y 10 Time
monitoring of th
error [milliseconds].
Position controller parameters
Type Attrib Map Default Meaning Index Sub Name
value
60FB Position control
parameters RECORD Parameters of the
position controller.
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(dummy) Unsigned 16 RW N 0 cation. Integral amplifi
60FB 03 kd Unsigned 16 0 tion. RW N 10 Differential amplifica
60FB of the D
n in units of the
controller scan time.
04 td Unsigned 8 RW N 0 Scan time
proportio
Unsigned 16 RW N 100 Velocity amplification 60FB 05 kv
factor kv.
60F RW N 0 Feed forward factor. B 06 Ff Unsigned 8
The parameterisation of the position controller can be carried out by means of the ACSetup
osition Controller dialogue box “ on page 69
I Mode – Pos ntrol w rp o
The interpolation principle is easy to apply. At first, the “I ode Select” (60C0
h
)
ra ter 0. a r “Interpolation Data” (60 1), the
superordinate control hands over a new target position value (in user-defined units) to the drive
controller in precisely defined time intervals (Sync time). The drive generates target values for its
position controller so as to make sure that the given target position value is achieved in linear at the
end of the time interval.
programme. “P
nterpolated Position ition co ith inte olati n
nterpolation Subm
pa me is set to equal Via the par mete C1
h
– sub-index
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