Festo CiA 402 Manual page 67

4 Setting parameters
Object 60F9 : velocity_control_parameters
h
The data of the speed controller must be taken from the parametrisation software. The following calcu-
lations must be observed:
Amplification of the speed regulator must be multiplied by 256.
With an amplification of 1.5 in the "Speed Regulator" menu of the parametrisation software, the value
384 = 180 must be written in the object velocity_control_gain.
h
The speed regulator time constant is specified in the parametrisation software in milliseconds. To trans-
fer this time constant into the velocity_control_time object, it must previously be converted into micro-
seconds. With a specified time of 2.0 milliseconds, the corresponding value 2000 is entered in the ob-
ject velocity_control_time.
Index
Name
Object Code
No. of Elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
60F9
h
velocity_control_parameter_set
RECORD
2
01
h
velocity_control_gain
UINT16
rw
no
256 = Gain 1
20 ... 64*256 (16384)
128
02
h
velocity_control_time
UINT16
rw
no
μs
1 ... 32000
8000
04
h
velocity_control_filter_time
UINT16
rw
no
μs
1 ... 32000
1600
67