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IMPORTANT: These values are only used in velocity control mode (not in cascaded position control)
The constants K_p, K_i, and K_d should be between 0 and 10 with the precision of 6-digit floating point. To find the proper values of PID constants of velocity controller the following steps are recommended:
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
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Controller Kp | 0x2011:1 | REAL | 32 | 0 | 65535 | 0 | readwrite | ||||||||
The P-gain of the PID Velocity Control Loop [mNm/rpm]. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Controller Ki | 0x2011:2 | REAL | 32 | 0 | 65535 | 0 | readwrite | ||||||||
The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Controller Kd | 0x2011:3 | REAL | 32 | 0 | 65535 | 0 | readwrite | ||||||||
The D-gain of the PID Velocity Control Loop [rpm*s/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||
Controller integral limit | 0x2011:4 | UDINT | 32 | 0 | 0 | mNm | readwrite | ||||||||
Integrator limitation for anti-windup. Technique used is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||
Encoder source | 0x2011:5 | USINT | 8 |
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readwrite | ||||||||||
Select which encoder should be used for velocity control. |
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