"Index offset" specification for controller parameter (Index group 0x6000 + ID)

0x00000001

Read

every

UINT32

1

[1 ... 255]

Controller ID

0x00000002

Read

every

UINT8[30+1]

1

30 symbol

Controller name

0x00000003

Read

every

UINT32

1

s. ENUM (>0)

Controller type

0x0000000A

Read/Write

every

UINT32

1

s. ENUM (>0)

Controller mode

DEFAULT:

1=STANDARD

0x0000000B

Read/Write

every

REAL64

%

[0.0 ... 1.0]

Weight of the velocity pre control (standard value: 1.0 = 100 %)

0x00000010

Read/Write

every

UINT16

1

0/1

Following error monitoring positon?

0x00000011

Read/Write

every

UINT16

1

0/1

Following error monitoring velocity?

0x00000012

Read/Write

every

REAL64

mm

[0.0…1.0E.6]

Max. following error position

0x00000013

Read/Write

every

REAL64

s

[0.0...600]

Max. following error time position

0x00000014

Read/Write

every

REAL64

mm/s

[0.0…1.0E.6]

Max. following error velocity

0x00000015

Read/Write

every

REAL64

s

[0.0…1.0E.6]

Max. following error time velocity

0x00000021

Read/Write

every

REAL64

1

[0.0...1000000.0]

Scaling factor (multiplier) for position differences between master and slave axis (conversion in the same coordinate system)

Reserved function,
no standard!

0x00000100

Read/Write

P/PID (Pos., (velocity)

REAL64

1

[0.0...1.0]

Maximum output limitation ( ) for controller total output

(Standard value: 0.5 == 50%)

0x00000102

Read/Write

P/PID (Pos.)

REAL64

mm/s/ mm

[0.0...1000.0]

Proportional amplification factor k_p resp. k_v

Base unit / s / base unit position control

0x00000103

Read/Write

PID (Pos.)

REAL64

s

[0.0 ... 60.0]

Integral action time Tn

Position control

0x00000104

Read/Write

PID (Pos.)

REAL64

s

[0.0 ... 60.0]

Derivative action time Tv

position control

0x00000105

Read/Write

PID (Pos.)

REAL64

s

[0.0 ... 60.0]

Damping time Td

Position control

0x00000106

Read/Write

PP (Pos.)

REAL64

mm/s/ mm

[0.0...1000.0]

Add proportional amplification factor kp resp. kv that applies above a limit velocity in percent.

Base unit / s / base unit position control

0x00000107

Read/Write

PP (Pos.)

REAL64

%

[0.0...1.0]

Threshold level velocity in percent, above which the additional proportional amplification factor kp resp. kv applies.

(Standard value: 0.01 == 1%)

0x00000108

Read/Write

P/PID (Acc.)

REAL64

s

[0.0 ... 100.0]

proportional amplification factor ka

Acceleration pre control

0x0000010A

Read/Write

every

UINT32

1

ENUM

Filter for maximum slope of the nominal velocity (acceleration restricted):
0: Off, 1: Velo, 2: Pos+Velo

Reserved function,
no standard!

0x0000010B

Read/Write

every

REAL64

mm/s^2

Filter value for the maximum slope of the nominal velocity (max. acceleration)

Reserved function,
no standard!

0x0000010D

Read/Write

P/PID

REAL64

mm

[0.0 ... 10000.0]

'dead band' for position error (position deviation)

(for P/PID-controller with velocity or torque interface)

Reserved function

0x0000010F

Read/Write

P/PP/PID (Pos.)
slave-control

REAL64

(mm/s) / mm

[0.0...1000.0]

Slave coupling control:

Proportional gain k_cp for position deviation between master and slave

Slave coupling control

0x00000110

Read/Write

P (Pos.)

UINT16

1

0/1

Automatic offset calibration:

active/passive

0x00000111

Read/Write

P (Pos.)

UINT16

1

0/1

Automatic offset calibration:

hold mode

0x00000112

Read/Write

P (Pos.)

UINT16

1

0/1

Automatic offset calibration:

fading mode

0x00000114

Read/Write

P (Pos.)

REAL64

%

[0.0 ... 1.0]

Automatic offset calibration:

pre control limit

(Standard value: 0.05 == 5%)

0x00000115

Read/Write

P (Pos.)

REAL64

s

[0.1 ... 60.0]

automatic offset calibration:

time constant

0x00000116

Read/Write

PID (Pos.)

REAL64

%

[0.0...1.0]

Maximum output limitation ( ) for I- part in percent (default setting: 0.1 == 10 %)

0x00000117

Read/Write

PID (Pos.)

REAL64

%

[0.0...1.0]

Maximum output limitation ( ) for D- part in percent (default setting: 0.1 == 10 %)

0x00000118

Read/Write

PID (Pos.)

UINT16

1

0/1

Switch off the I-part during an active positioning process (as far as I-part active)?

(default setting: 0 = FALSE)

0x00000120

Read/Write

P/PID (Pos.)

REAL64

s

≥0

PT-1 filter time for position error (position-difference)

Reserved function,
no standard!

0x00000202

Read/Write

P/PID (velocity)

REAL64

1

[0.0...1000.0]

Proportional amplification factor k_p resp. k_v

Velocity control

0x00000203

Read/Write

PID (velocity)

REAL64

s

[0.0 ... 60.0]

Integral-action time T_n

Velocity control

0x00000204

Read/Write

PID (velocity)

REAL64

s

[0.0 ... 60.0]

Derivative action time T_v

Velocity control

0x00000205

Read/Write

PID (velocity)

REAL64

s

[0.0 ... 60.0]

Damping timeT_d

Velocity control

0x00000206

Read/Write

PID (velocity)

REAL64

%

[0.0...1.0]

Maximum output limitation ( ) for I-part in percent (default setting: 0.1 == 10 %)

Velocity control

0x00000207

Read/Write

PID (velocity)

REAL64

%

[0.0...1.0]

Maximum output limitation ( ) for D-part in percent (default setting: 0.1 = 10 %)

Velocity control

0x0000020D

Read/Write

P/PID (velocity)

REAL64

mm/s

[0.0 ... 10000.0]

'dead band' for velocity error (velocity deviation)

(for P/PID-controller with velocity or torque interface)

Reserved function

0x00000220

Read/Write

P/PID (velocity)

REAL64

s

≥0

PT-2 filter time for velocity error (velocity-difference)

Velocity control,
no standard!

0x00000221

Read/Write

P/PID (velocity)

REAL64

s

≥0

PT-1 filter time for velocity error (velocity-difference)

Reserved function,
no standard!

0x00000250

Read/Write

P/PI (observer)

UINT32

1

s. ENUM (≥0)

OBSERVER mode for controller with torque interface

0: OFF (default)

1: LUENBERGER

0x00000251

Read/Write

P/PI (observer)

REAL64

Nm / A

>0.0

Motor:

torque constant K_T

0x00000252

Read/Write

P/PI (observer)

REAL64

kg m²

>0.0

Motor:

moment of inertia J_M

0x00000253

Read/Write

P/PI (observer)

REAL64

Hz

[100.0 ... 2000.0] Default: 500

Bandwidth f₀

0x00000254

Read/Write

P/PI (observer)

REAL64

1

[0.0 ... 2.0] Default: 1.0

Correction factor k_c

0x00000255

Read/Write

P/PI (observer)

REAL64

s

[0.0 ... 0.01] Default: 0.001

Velocity filter (1. order):

filter time constant T

0x00000A03

Read/Write

PID (MW)

REAL64

cm^2

[0.0 ...1000000]

Cylinder area A_A of side A in cm^2

0x00000A04

Read/Write

PID (MW)

REAL64

cm^2

[0.0 ...1000000]

Cylinder area A_B of side B in cm^2

0x00000A05

Read/Write

PID (MW)

REAL64

cm^3/s

[0.0 ...1000000]

Nominal volume flow Q_nenn in cm^3/s

0x00000A06

Read/Write

PID (MW)

REAL64

bar

[0.0 ...1000000]

nominal pressure resp. valve pressure reduction P_nenn in bar

0x00000A07

Read/Write

PID (MW)

UINT32

1

[1 ... 255]

Axis ID for the system pressure P_o