0x2013 Gain scheduling

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Enabled 0x2013:1 BOOL 1
Disabled 0
Enabled 1
readwrite

Enables or disables the gain scheduling feature.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Threshold velocity 0 0x2013:2 UDINT 32 0 0 rpm readwrite

Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond it, linear interpolation begins.

The units are given in RPM.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop Kp 0 0x2013:3 REAL 32 0 65535 0 readwrite

The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop Ki 0 0x2013:4 REAL 32 0 65535 0 readwrite

The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop Kd 0 0x2013:5 REAL 32 0 65535 0 readwrite

The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop integral limit 0 0x2013:6 UDINT 32 0 0 rpm readwrite

The integrator limit of the Position Control Loop of area 0 (low velocity, below threshold velocity 0). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Limit should always be set in the driving shaft units, especially important, when the gear box is used in the setup.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop Kp 0 0x2013:7 REAL 32 0 65535 0 readwrite

The P-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/rpm]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop Ki 0 0x2013:8 REAL 32 0 65535 0 readwrite

The I-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/(rpm*s)]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop Kd 0 0x2013:9 REAL 32 0 65535 0 readwrite

The D-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop integral limit 0 0x2013:10 UDINT 32 0 0 mNm readwrite

The integrator limit of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Threshold velocity 1 0x2013:11 UDINT 32 0 0 rpm readwrite

Velocity that determines the upper threshold. Above this value, controller gains set 1 is used. Up to this velocity linear interpolation is performed.

The units are given in RPM.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop Kp 1 0x2013:12 REAL 32 0 65535 0 readwrite

The P-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/inc]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop Ki 1 0x2013:13 REAL 32 0 65535 0 readwrite

The I-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/(inc*s)]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop Kd 1 0x2013:14 REAL 32 0 65535 0 readwrite

The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Position loop integral limit 1 0x2013:15 UDINT 32 0 0 rpm readwrite

The integrator limit of the Position Control Loop of area 1 (high velocity, above threshold velocity 1). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Limit should always be set in the driving shaft units, especially important, when the gear box is used in the setup.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop Kp 1 0x2013:16 REAL 32 0 65535 0 readwrite

The P-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/rpm]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop Ki 1 0x2013:17 REAL 32 0 65535 0 readwrite

The I-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/(rpm*s)]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop Kd 1 0x2013:18 REAL 32 0 65535 0 readwrite

The D-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity loop integral limit 1 0x2013:19 UDINT 32 0 0 mNm readwrite

The integrator limit of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds.