User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-67
7.20 Position Control Function
The DS402 standard defines a number of parameters related to position, which are particularly relevant when in
position mode. In addition it also defines windowing functions that are used to determine if a target position has
been reached (actual position is within a certain window of the target position), or if a following error exists (actual
position is within a certain window of the demand position). Parameters for configuration and tuning of the position
loop are manufacturer specific. The DS402 parameters that are defined are listed below:
Figure 7.34 Position control function
Index Name Type Comment
0x6062 ds402 position demand value S32 Output from Demand Block in position units.
0x6063 ds402 position actual value inc* S32 Actual value from the position measurement device, in
incs.
0x6064 ds402 position actual value S32 Actual value from the position measurement device, in
pos. units.
0x6065 ds402 following error window U32 The Delta between demand and actual position, if greater
than this window (in position units), will set the
following error bit in the status word.
0x6067 ds402 position window U32 The Delta between target and actual position, if less than
or equal to this window, (in position units) it will set the
target reached bit in the status word.
0x60FC ds402 position demand value inc* S32 Output from Demand Block in units of increments.
* Is used in DS402 to indicate it is in increments rather than position units.
Table 7.26 Table of position control function parameters
In addition a position control parameter set has been defined. It is a grouping of existing drive parameters, into a
single ds402 record, (under parameter number 0x60FB). This record is included in the position control table of
parameters on the following page.
GENERAL ISSUES
1. Position Window and Following Error Window are only used in position modes.
2. Position Actual Value and Position Actual Value* are both relative to the home/zero position.
Position
F
eedb
a
ck
Homing
Function
Position
Control Loop
Demand
Generation
Position Demand Value
Position Demand Value *
Pos. Facto
r
Position Actual Value
Position Actual Value *
Pos. Facto
r
Position Window
Following Error Window