AXIS#.OBS.KO

Description

AXIS#.OBS.KO sets the model gain of the velocity Observer.

This value represents the gain of the electro-mechanical plant of the system. The system has a high gain if it responds quickly and agilely, and this number will be high. For a heavily loaded system with a large inertia mismatch, the system does not respond quickly and is sluggish. This means the value of OBS.KO will be lower.

It becomes important that OBS.KO is set correctly to ensure stability as the Observer's bandwidth In computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz (AXIS#.OBS.BW) is set lower.

The Observer is made up of a few components. Following is a block diagram of how the Observer is connected in the loops.

Versions

Action	Version	Notes
Implemented	02-04-03-000

General Information

Type	Read/Write
Units	(rad/sec²)/A
Range	0 to 1,000,000.000
Default Value	0
Data Type	Float
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
AXIS1.OBS.KO	5017h	03h	Unsigned32	-	1000:1	Read/Write	No
AXIS2.OBS.KO	5117h	03h	Unsigned32	-	1000:1	Read/Write	No