"Position controller" operating mode
Properties
- Position specification via the variable "Position" in process data object STM Position.
- If you do not want to use the TwinCAT NC, you can use the Positioning Interface.
Possible "Predefined PDO Assignments"
Parameter
Index | Name | Description | Unit | Data type | Default value |
|---|---|---|---|---|---|
8010:03 | Nominal voltage | The DC link voltage UP | 10 mV | UINT | 5000dec |
8010:04 | Motor coil resistance | The winding resistance of the motor. | 0.01 Ω | UINT | 100dec |
8011:01 | Kp factor (curr.) | Proportional component of the current controller |
| UINT | 150dec |
8011:02 | Ki factor (curr.) | Integral component of the current controller |
| UINT | 10dec |
8014:01 | Feed forward (pos.) | Pre-control of the position controller. |
| UDINT | 100000dec |
8014:02 | Kp factor (pos.) | Proportional component of the position controller. |
| UINT | 500dec |
Optional parameters
To use step loss detection and/or load angle detection without encoder, set the following parameters additionally:
Index | Name | Description | Unit | Data type | Default value |
|---|---|---|---|---|---|
8010:05 | Motor EMF | The voltage constant ke for calculating the back electromotive force (BEMF) The voltage constant can be found in the data sheet of the motor. Alternatively, you can determine it experimentally. | mV/ | UINT | 0 |
8010:0A | Motor coil inductance | The winding inductance of the motor. | 0.01 mH | UINT | 0 |