60FAh Control Effort
Function
This object contains the correction speed (control variable) in user-defined units that is fed to the velocity controller by the position controller.
Object description
Index | 60FAh |
Object name | Control Effort |
Object Code | VARIABLE |
Data type | INTEGER32 |
Savable | no |
Access | read only |
PDO mapping | TX-PDO |
Allowed values | |
Preset value | 00000000h |
Firmware version | FIR-v1748-B531667 |
Change history |
Description
The position controller calculates a correction speed (in user-defined units) from the difference between the current position and the demand position which is then passed on to the velocity controller. This correction value is dependent on the proportional component and integral component of the position controller. See also chapter Closed-Loop.