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7.3.22
0x60FB Position_control_parameter_set object
Table 7-34 Position_control_parameter_set object
0x60FB
Position_control_parameter_set
Sub-index 0
Access: RO
Default:
2
Description:
The number of control loop parameters.
Sub-index 1
Access: RW
Default:
2500
Description:
The position controller proportional gain.
Sub-index 2
Access: RW
Default:
1000 (i.e. a gain of 1)
Description:
The position controller speed feed forward gain.
The AMC position controller kernel is used by the basic internal position control.
The position_demand_value object contains the value supplied by either the interpolated position
mode or the profile position mode (in user units). It is updated every control loop cycle. This object
can be mapped as cyclic data.
SI-EtherCAT User Guide
Issue Number: 2
Range: N/A
Range: 0 to 5000
Range: 0 to 2000
Size: Unsigned 8
Type: USINT
Size: Unsigned 16
Type: DINT
Size: Unsigned 16
Type: DINT
Unit: N/A
Unit: 0.01 rad/s/rad
Unit: 1 / 1000
55
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