Intelligent Motion Systems DSP-402 6062 h, h Position Actual Value, Position Control Function

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 6062h — Position Demand Value

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

Object Description

	Index	Name		Object Code	Data Type
	6062h	Position Demand Value		VAR	Integer 32
Entry Description
	Access	PDO Mapping	Range			Default
	r	n/a	Integer 32			n/a

Object 6063h — 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	Name		Object Code	Data Type
	6063h	Position Actual Value*		VAR	Integer 32
Entry Description
	Access	PDO Mapping	Range			Default
	r	n/a	Integer 32			n/a

Object 6064h — Position Actual Value

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

Object Description

	Index	Name		Object Code	Data Type
	6064h	Position Actual Value		VAR	Integer 32
Entry Description
	Access	PDO Mapping	Range			Default
	r	n/a	Integer 32			n/a

Part 2: DSP-402 Implementation 49