Description
AXIS#.VL.KP sets the proportional gain of the velocity loop.
The idealized velocity loop bandwidth in Hz is:
Rotary motor:
Bandwidth (Hz) = AXIS#.VL.KP *Kt/ (2π *Jm)
Where:
Kt= motor torque constant, in units of Nm/Arms
Jm = motor inertia, in units of kg*m²
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
A/(rad/sec) |
|
Range |
0 to 2,147,483.008 |
|
Default Value |
0 |
|
Data Type |
Float |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.VL.KP |
5011h |
01h |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.VL.KP |
5111h |
01h |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6029 |
1 |
6029 (0x178d) |
AXIS1.VL.KP |
Signed32 |
Read/Write |
Yes |
|
71565 |
2 |
6029 (0x178d) |
AXIS2.VL.KP |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.VL.KP |
6029 |
Float |
Read/Write |
- |
