Intelligent-motion-systems MDrive DSP-402 Manuel d'utilisateur télécharger pdf (Page 57)

49Part 2: DSP-402 Implementation

Section 8

Position Control Function

General Information

In this chapter, all parameters are described which are necessary for a closed loop position control. The control loop is fed

with the position_demand_value as one of the outputs of the Trajectory Generator and with the output of the position detec-

tion unit (position_actual_value) like a resolver or encoder as input parameters.

Object 6062

— Position Demand Value

This object shall provide the demanded position value. The value shall be given in motor steps.

Object Description

Index

6062

Name

Position Demand Value

Object Code

VAR

Data Type

Integer 32

Entry Description

Access

PDO Mapping

n/a

Range

Integer 32

Default

n/a

Object 6063

— Position Actual Value Internal

This object shall provide the actual value of the position measurement device, which shall be one of the two input values of

the closed-loop position control

Object Description

Index

6063

Name

Position Actual Value*

Object Code

VAR

Data Type

Integer 32

Entry Description

Access

PDO Mapping

n/a

Range

Integer 32

Default

n/a

Object 6064

— Position Actual Value

This object represents the actual value of the position measurement device microsteps.

Object Description

Index

6064

Name

Position Actual Value

Object Code

VAR

Data Type

Integer 32

Entry Description

Access

PDO Mapping

n/a

Range

Integer 32

Default

n/a

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