Emerson SM-ETHERCAT 0471-0128-02 - Manual (Page 39)

SM-EtherCAT User Guide
39
Issue Number: 2 www.controltechniques.com
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7.3.17 0x60FB Position_control_parameter_set object
The APC position controller kernel is used by the basic internal position control.
The position_demand_value object contains the value supplied by either the
interpolated position mode or the profile position mode (in user units). It is updated
every control loop cycle. This object can be mapped as cyclic data.
7.4 Interpolated position mode
Interpolated position mode operates on the Unidrive SP in servo mode, closed-loop
vector mode and RFC mode. This mode also operates on the Digitax ST and Mentor
MP. Table 7.31 lists the objects that are supported:
7.4.1 0x60C0 Interpolation_sub-mode_select
Table 7.30 Position_control_parameter_set object
0x60FB Position_control_parameter_set
Sub-index 0
Access: RO Range: N/A Size: Unsigned 8 Unit: N/A
Default: 2
Description: The number of control loop parameters.
Sub-index 1
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: 0.01 rad/s/rad
Default: 2500
Description: The position controller proportional gain.
Sub-index 2
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: 1 / 1000
Default: 1000 (i.e. a gain of 1)
Description: The position controller speed feed forward gain.
Table 7.31 Supported Interpolated position mode objects
Index Name
0x60C0 interpolation_submode_select
0x60C1 interpolation_data_record
0x60C2 interpolation_time_period
Table 7.32 0x60C0 Interpolation_sub-mode_select
0x60C0 Interpolation_sub-mode_select
Access: RW Range: 0 Size: Signed 16 Unit: N/A
Default: 0 (Linear interpolation)
Description: Specifies the interpolation type. The values have the following meanings:0 = Linear
Interpolation.