Velocity Offset

To improve the positioning performance when the position reference is changing dynamically, an additional velocity offset is available in the cascaded controller.

../../../../../_images/velocity_offset3.png

This velocity offset must be computed by the master, it is not computed on the slave.

Note

As this value should be fed dynamically with continuously updated values, it is not accessible in OBLAC Drives, but through the EtherCAT parameter 0x60B1.

0x2010 Torque Controller

Values Kp, Ki and Kd for Torque Controller

0x2012 Position Controller

Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity)

60B1 Velocity Offset

This object provides the offset for the velocity value.