Festo Электромотор MTR-DCI - Manual (Page 255)

B. Supplementary information
B-49
Festo P.BE-MTR-DCI-PB-EN en 1209a
Position Control Parameter Set
PNU 1024 18...23, 32
d
17...22, 31
d
uint16 rw
Description Control parameters.
Modification is only permitted for servicing purposes.
If necessary consult Festo.
Gain Position 1024 18
d
(CI: 12h) 17
d
Gain for position controller.
Value range: MTR-DCI-32: 1...100; MTR-DCI-42/52/62: 1...200
Default: MTR-DCI-32: 20; MTR-DCI-42: 15; MTR-DCI-52: 10; MTR-DCI-62: 8
Gain Velocity 1024 19
d
(CI:13h) 18
d
Gain for speed controller.
Value range: MTR-DCI-32: 1...3000; MTR-DCI-42/52/62: 1...700
Default: MTR-DCI-32: 2800; MTR-DCI-42/52: 600; MTR-DCI-62: 500
I-Fraction Velocity 1024 20
d
(CI:14h) 19
d
Integral term for speed controller.
Value range: 1...600
Default: MTR-DCI-32: 80; MTR-DCI-42/52/62: 340
Gain Current 1024 21
d
(CI:15h) 20
d
Gain for current controller.
Value range: MTR-DCI-32: 1...1000; MTR-DCI-42/52/62: 1...800
Default: MTR-DCI-32: 110; MTR-DCI-42/52/62: 150
I-Fraction 1024 22
d
(CI:16h) 21
d
Integral term for current regulator.
Value range: MTR-DCI-32/42/52: 0...1000
Default: MTR-DCI-32: 90; MTR-DCI-42: 420; MTR-DCI-52: 350
Gain Velocity
Trajectory
1024 23
d
(CI:17h) 22
d
Gain for speed controller – trajectory generator.
Value range: 1...2
Default: 1
Save Position 1024 32
d
(CI:20h) 31
d
Saves current position in the EEPROM when power is switched off.
Fixed = 240 (0x00F0): current position is
not saved at Power-Off.
CI access 60FBh 12h...17h, 20h uint16 rw