User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402
DS2100 User’s Manual
C27750-001 PAGE 7-69
7.20.1 Position Control Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
INPUT PARAMETERS
ds402 following error window 0x6065 0 yes u32 r/w 0 - - pos units N A 4171
ds402 position window 0x6067 0 yes u32 r/w 0 - - pos units C A 4172
OUTPUT PARAMETERS
ds402 position demand value 0x6062 0 yes s32 r 0 - - pos units N A 4167
ds402 position demand value increments 0x60FC 0 yes s32 r 0 - - inc N A 4168
ds402 position actual value 0x6064 0 yes s32 r 0 - - pos units N A 4169
ds402 position actual value increments 0x6063 0 yes s32 r 0 - - inc N A 4170
POSITION CONTROL PARAMETER SET
position loop rate divider 0x60FB 1 no s16 r/w 2 1 - none C A 1137
position PI loop p-gain 0x60FB 2 no f32 r/w 2.0 0.0 - 1/s C A 1326
position PI loop i-gain 0x60FB 3 no f32 r/w 0.0 0.0 - 1/s
2
C A 1327
position PI loop error 0x60FB 4 yes f32 r - - - inc N A 1328
position TO loop error 0x60FB 5 yes f32 r - - - inc N A 1337
position TO loop ka-gain 0x60FB 6 no f32 r/w 519.75 0.0 - rads/s
2
C A 1347
position TO loop kp-gain 0x60FB 7 no f32 r/w 20.0 0.0 - 1/s C A 1349
position TO loop enable velocity integrator 0x60FB 8 no f32 r/w 6.28 0.0 - rad C A 1350