"Index offset" specification for controller parameter (Index group 0x6000 + ID)
Index offset (Hex) | Access | Controller type | Data type | Phys. unit | Definition range | Description | Note |
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0x00000001 | Read | every | UINT32 | 1 | [1 ... 255] | Controller ID |
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0x00000002 | Read | every | UINT8[30+1] | 1 | 30 characters | Controller name |
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0x00000003 | Read | every | UINT32 | 1 | s. ENUM (>0) | Controller type |
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0x0000000A | Read/Write | every | UINT32 | 1 | s. ENUM (>0) | Controller mode |
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0x0000000B | Read/Write | every | REAL64 | % | [0.0 ... 1.0] | Weighting of the velocity pre-control (default value: 1.0 == 100 %) |
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0x00000010 | Read/Write | every | UINT16 | 1 | 0/1 | Lag error monitoring Pos.? |
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0x00000011 | Read/Write | every | UINT16 | 1 | 0/1 | Lag error monitoring Velocity? |
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0x00000012 | Read/Write | every | REAL64 | mm |
| max. lag error position |
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0x00000013 | Read/Write | every | REAL64 | s |
| Max. lag error filter time position |
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0x00000014/ | Read/Write | every | REAL64 | mm/s |
| max. lag error velocity |
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0x00000015 | Read/Write | every | REAL64 | s |
| Max. lag error filter time velocity |
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0x00000021 | Read/Write | every | REAL64 | 1 | [0.0...1000000.0] | Scaling factor (multiplier) for the difference between the lag error of the master and that of the slave (Conversion in the same coordinate system of the master) | Reserved function, no standard! |
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0x00000100 | Read/Write | P/PID (Pos., (velocity) | REAL64 | 1 | [0.0...1.0] | Maximum output limitation (±) for controller total output | (default value: 0.5 == 50%) |
0x00000102 | Read/Write | P/PID (pos.) | REAL64 | (mm/s) / mm | [0.0...1000.0] | Proportional gain kp or kv | 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] | Additional proportional gain, kp or kv, that applies above a limiting velocity in percent. | base unit / s / base unit Position control |
0x00000107 | Read/Write | PP (Pos.) | REAL64 | % | [0.0...1.0] | Threshold velocity in percent above which the additional proportional gain, kp or kv, applies | (default value: 0.01 == 1%) |
0x00000108 | Read/Write | P/PID (Acc.) | REAL64 | s | [0.0 ... 100.0] | Proportional gain ka | Acceleration pre-control |
0x0000010A | Read/Write | every | UINT32 | 1 | ENUM | Filter for maximum increase in the set speed (acceleration-limited): 0: Off, 1: Velo, 2: Pos+Velo | Reserved function, no standard! |
0x0000010B | Read/Write | every | REAL64 | mm/s^2 |
| Filter for maximum increase in the set speed (maximum acceleration) | Reserved function, no standard! |
0x0000010D | Read/Write | P/PID | REAL64 | mm | [0.0 ... 10000.0] | "dead band" for position error (control deviation) (for P/PID controllers with velocity or torque interface) | reserved function |
0x0000010F | Read/Write | P/PP/PID (pos.) | REAL64 | (mm/s) / mm | [0.0...1000.0] | Slave coupling difference control: Proportional gain kcp | Slave coupling difference control |
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0x00000110 | Read/Write | P (Pos.) | UINT16 | 1 | 0/1 | Automatic offset calibration: active/passive |
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0x00000111 | Read/Write | P (Pos.) | UINT16 | 1 | 0/1 | Automatic offset calibration: Hold mode |
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0x00000112 | Read/Write | P (Pos.) | UINT16 | 1 | 0/1 | Automatic offset calibration: Fading mode |
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0x00000114 | Read/Write | P (Pos.) | REAL64 | % | [0.0 ... 1.0] | Automatic offset calibration: Pre-control limit | (default value: 0.05 == 5%) |
0x00000115 | Read/Write | P (Pos.) | REAL64 | s | [0.1 ... 60.0] | Automatic offset calibration: Time constant |
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0x00000116 | Read/Write | PID (pos.) | REAL64 | % | [0.0...1.0] | Maximum output limitation (±) for I part in percent (default setting: 0.1 == 10%) |
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0x00000117 | Read/Write | PID (pos.) | REAL64 | % | [0.0...1.0] | Maximum output limitation (±) for D part in percent (default setting: 0.1 == 10%) |
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0x00000118 | Read/Write | PID (pos.) | UINT16 | 1 | 0/1 | Deactivation of the I part during an active positioning process (assuming I part active)? (default setting: 0 = FALSE) |
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0x00000120 | Read/Write | PID (pos.) | REAL64 | s | ≥0 | PT-1 filter value for position error (pos. control deviation) | Reserved function, no standard! |
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0x00000202 | Read/Write | P/PID (velocity) | REAL64 | 1 | [0.0...1000.0] | Proportional gain kp or kv | Velocity control |
0x00000203 | Read/Write | PID (velocity) | REAL64 | s | [0.0 ... 60.0] | Integral action time Tn | Velocity control |
0x00000204 | Read/Write | PID (velocity) | REAL64 | s | [0.0 ... 60.0] | Derivative action time Tv | Velocity control |
0x00000205 | Read/Write | PID (velocity) | REAL64 | s | [0.0 ... 60.0] | Damping time Td | 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 (control deviation) (for P/PID controllers with velocity or torque interface) | reserved function |
0x00000220 | Read/Write | P/PID (velocity) | REAL64 | s | ≥0 | PT-2 filter value for velocity error (vel. control deviation) | Velocity control, not standard! |
0x00000221 | Read/Write | P/PID (velocity) | REAL64 | s | ≥0 | PT-1 filter value for velocity error (vel. control deviation) | Reserved function, no standard! |
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0x00000250 | Read/Write | P/PI (observer) | UINT32 | 1 | s. ENUM (≥0) | Observer mode for control in the torque interface 0: OFF (default) 1: LUENBERGER | From TC 2.10 Build 1320 |
0x00000251 | Read/Write | P/PI (observer) | REAL64 | Nm / A | >0.0 | Motor: Torque constant KT |
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0x00000252 | Read/Write | P/PI (observer) | REAL64 | kg m2 | >0.0 | Motor: Moment of inertia JM |
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0x00000253 | Read/Write | P/PI (observer) | REAL64 | Hz | [100.0 ... 2000.0] Default: 500 | Bandwidth f0 |
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0x00000254 | Read/Write | P/PI (observer) | REAL64 | 1 | [0.0 ... 2.0] Default: 1.0 | Correction factor kc |
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0x00000255 | Read/Write | P/PI (observer) | REAL64 | s | [0.0 ... 0.01] Default: 0.001 | Velocity filter (1st order): time constant T |
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0x00000A03 | Read/Write | PID (MW) | REAL64 | cm^2 | [0.0 ...1000000] | Cylinder area AA of the A side in cm^2 |
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0x00000A04 | Read/Write | PID (MW) | REAL64 | cm^2 | [0.0 ...1000000] | Cylinder area AB of the B side in cm^2 |
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0x00000A05 | Read/Write | PID (MW) | REAL64 | cm^3/s | [0.0 ...1000000] | Nominal volume flow Qnom in cm^3/s |
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0x00000A06 | Read/Write | PID (MW) | REAL64 | bar | [0.0 ...1000000] | Nominal pressure or valve pressure drop, Pnom in bar |
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0x00000A07 | Read/Write | PID (MW) | UINT32 | 1 | [1 ... 255] | Axis ID for the system pressure Po |
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