S-0-0100 Velocity loop proportional gain
Proportional gain value of the velocity control loop. The value depends on the application. Important are motor inertia, load inertia and coupling. The scaling can be changed by setting a feature flag (P-0-0010 Bit 15) between A/(rad/s) (compatible) and Nm/(rad/s)|N/(m/s) (flag set).
Attributes
|
Name |
Value |
|---|---|
|
Datatype |
udec |
|
Data length in bit |
32 |
|
Decimal point |
3 |
|
Min value |
0.000 |
|
Default |
0.100 |
|
Max value |
4294967.295 |
|
Unit |
Nm/(rad/s) | N/(m/s) |
|
Changeable in EtherCAT state |
PreOp, SafeOp, Op |
|
Cyclic transfer |
No |
|
Device parameter |
No |
|
Related to interface revision |
Yes |
|
Revision |
Max value |
|---|---|
|
002 |
10000 |
|
003 |
10000 |
|
004 |
10000 |
|
005 |
10000 |
|
006 |
30000 |
|
007 |
30000 |
|
008 |
30000 |
|
009 |
30000 |
|
010 |
1000000 |
|
011 |
1000000 |
|
012 |
1000000 |
|
200 |
1000000 |
|
201 |
1000000 |
|
202 |
1000000 |
|
203 |
1000000 |
|
210 |
4294967.295 |
 | For further information please look into the involved IDN: |