Festo Электромотор MTR-DCI - Manual (Page 170)

B. Supplementary information
B-34
Festo P.BE-MTR-DCI-IO-EN en 1209d
Position_Control_Parameter_Set
CI access 60FBh 12h...15h,
17h, 20h Array uint16 rw
Description Control parameters as well as parameters for “quasi-absolute position
registering”
Write only in service cases.
Gain Position 60FBh 12h uint16 rw
Gain position controller
Value range: 1...200
Default:
MTR-DCI-32: 60
MTR-DCI-42/52/62: 35
Gain Velocity
(speed gain)
60FBh 13h uint16 rw
Gain speed controller
Value range: 100...500
Default:
MTR-DCI-32: 500
MTR-DCI-42/52: 230 MTR-DCI-62: 200
I-Fraction Velocity
(I-share of speed)
60FBh 14h uint16 rw
I-share speed controller
Value range: 100...500
Default:
MTR-DCI-32: 500
MTR-DCI-42/52: 320 MTR-DCI-62: 150
Gain Current 60FBh 15h uint16 rw
Gain current controller
Value range:
MTR-DCI-32: 200...1000
MTR-DCI-42/52: 200...800
Default:
MTR-DCI-32: 1000
MTR-DCI-42/52: 400 MTR-DCI-62: 300
Gain Velocity
Trajectory
60FBh 17h uint16 rw
Gain speed controller – trajectory generator
Values: 1, 2
Default:
MTR-DCI-32: 1
MTR-DCI-42/52/62: 2