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 (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 CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.OBS.KO

5017h

03h

Unsigned32

-

1000:1

Read/Write

No

AXIS2.OBS.KO

5117h

03h

Unsigned32

-

1000:1

Read/Write

No