Parameters K - Etel DSC Series Operation & Software Manual

16.

Parameters K

16.1 Parameters K for DSC2P and DSC2V
K Alias
K1
K2
K3
K4
K5
K6
K7
K8
K9
K11
K20
K21
K23
K27
K30
K31
K32
K33
K34
ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
Operation & Software Manual
Direct Drives & Systems
Val Bit # Comment for parameters K
<P1> <P1> and <P1> of the DSC2P and DSC2V
Position loop proportional gain
Position loop speed feedback gain
Position loop force feedback gain
Position loop integrator gain
Position loop anti-windup gain
Position loop integrator limitation
Position loop integrator mode
0 Position loop integrator gain (K4) always on
2 Position loop integrator gain (K4) always off
Position loop speed filter
Force reference filter on the position regulator output
Speed smooth filter for TTL encoder
Position loop speed feedforward gain
Position loop acceleration feedforward gain
Commutation phase advance according to the speed
Maximum position range limit for rotary movement.
Depth 0 for primary encoder and depth 1 for secondary
encoder
Absolute tracking error limit. When the tracking error is
greater than K30, the controller generates the error
M64=23
Absolute velocity limit. When the velocity is greater than
K31, the controller generates an overspeed error
M64=24
Limit switch and home switch inversion. Activates the
dynamic brake
1 0 Enables the use of the limit switches
2 1 Inverts home switch
4 2 Inverts limit switches from the encoder
8 3 Inverts limit switches
Enables the use of the dynamic braking controlled by
16 4
the transistors
Enables limitation of K60/K31 according to DIN. K178:2
defines the mask of the DIN that should be at 1 to limit
32 5 K60 and K31. K179:2 defines the mask of the DIN that
should be at 0 to limit K60 and K31. K60:3 and K31:3
are the limitation
Enables input mode
Enabled signal is necessary to power on the controller
on DIN1. In this case this input must be at 1 when a
0
PWR.#=1 command is executed. If this input is cleared,
the controller generates an error (M64=26)
Enabled signal not used (DIN1 is not taken into
125 account). PWR.#=1 command switches the power on
the motor
Minimum software position limit
Def. Val Min. Val Max. Val
<P1> <P1>
100 0 2147483647
20 0 2147483647
0 0 2147483647
0 0 2147483647
10 0 2147483647
1073741823 0 2147483647
0 0
0 0
0 0
0 0
0 0 2147483647
0 0 2147483647
0 0
1 0 2000000000
10000000 0 1073741823
100000000 0 2147483647
0 0
125 0
0 -2147483648 2147483647
Chapter E: Appendixes
277
<P1>
2
511
511
256
65535
63
125