NP5 CANopen Technical Manual

60FAh Control Effort

Function

This object contains the correction speed (control variable) in user-defined units that is fed to the velocity controller by the position controller.

Object description

Index 60FAh
Object name Control Effort
Object Code VARIABLE
Data type INTEGER32
Savable no
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h
Firmware version FIR-v1748-B531667
Change history

Description

The position controller calculates a correction speed (in user-defined units) from the difference between the current position and the demand position which is then passed on to the velocity controller. This correction value is dependent on the proportional component and integral component of the position controller. See also chapter Closed Loop.

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