Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Position Controller (0x25)
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 88 of 160
Attr
ID
Access
Rule
Name
Data
Type
Description
29 Get Wrap Around BOOL Position Wrap Around Indicator Flag
If 1, the motor has gone past its maximum pos-
ition.
30 Set/Get Kp INT Proportional Gain
Range: 0 to 32767
31 Set/Get Ki INT Integral Gain
Range: 0 to 32767
32 Set/Get Kd INT Derivative Gain
Range: 0 to 32767
33 Set/Get MaxKi INT Integration Limit
Range: 0 to 32767
35 Set/Get Velocity Feed
Forward
INT Velocity feed forward gain value
Range: 0 to 32767
37 Get Sample Rate INT Update sample rate in micro-seconds
40 Get Feedback Res-
olution DINT Number of actual position feedback counts per
revolution
41 Get Motor Resolution DINT Motor resolution in motor steps. Number of
motor steps in one revolution of the motor.
45 Set/Get Max Dynamic Fol-
lowing Error
DINT Maximum allowable following error when the
motor is in motion
46 Set/Get Following Error
Action
USINT Following Error Action code:
0=Servo off
1=Hard Stop
2=Smooth Stop
128=MTB
47 Set/Get Following Error
Fault
BOOL Following error occurrence flag
48 Get Actual Following
Error DINT Actual Following error
49 Set/Get Hard Limit
Action
USINT Hard Limit Action code:
0 = Servo off
1 = Hard Stop
2 = Smooth Stop
128 = MTB
224 = Both hardware limits disabled
50 Get Forward Limit BOOL Forward Limit stop input status active
51 Get Reverse Limit BOOL Reverse Limit stop input status active
52 Set/Get Soft Limits
Enable
BOOL Enables Soft Limits