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 user-defined (RPM by default; see 0x60a9 SI unit velocity to change it).
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 user-defined (RPM by default; see 0x60a9 SI unit velocity to change it).
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.