3.1.9.1.51 0x2013 Gain scheduling
Name
Index:Sub Type
Bit
Size
Options
Unit
Access
PDO
Mapping
Enabled
0x2013:1
BOOL
1
Disabled
0
Enabled
1
readwrite
Enables or disables the gain scheduling feature.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Threshold
velocity 0
0x2013:2
UDINT
32
0
0
rpm
readwrite
Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond
it, linear interpolation begins.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Position loop
Kp 0
0x2013:3
REAL
32
0
65535
0
readwrite
The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc]
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Position loop Ki
0
0x2013:4
REAL
32
0
65535
0
readwrite
The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)]
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Position loop
Kd 0
0x2013:5
REAL
32
0
65535
0
readwrite
The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Position loop
integral limit 0
0x2013:6
UDINT
32
0
0
rpm
readwrite
The integrator limit of the Position Control Loop of area 0 (low velocity, below threshold velocity 0).
Technique used for preventing the windup is clamping and it prevents the integral term from
accumulating above or below pre-determined bounds. Limit should always be set in the driving shaft units,
especially important, when the gear box is used in the setup.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Velocity loop
Kp 0
0x2013:7
REAL
32
0
65535
0
readwrite
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