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Command Set B-13MN1851
Sys.mod 1 & Sys.mod 3
Velocity mode Parameters:
Command Description Units Range Default E
2
/ Par. set
VEL.ACC Queries /updates velocity acceleration
limits ( time to max. velocity ).
RPM/ms 0 : 7500 E / P
VEL.ADZON Queries / updates min. velocity in RPM RPM 0 : Max_RPM E / P
VEL.BW Queries / updates velocity control band
width
Hz 10 : 200 E / P
VEL.CTRL Queries / updates velocity control type 0, 2 E / P
VEL.GV Queries / updates velocity control
proportional gain
0 : 32767 E / P
VEL.GVI Queries / updates velocity control integral
gain
0 : 32767 E / P
VEL.INRT Load inertial, set in % of motor inertia
MTR.JM
% 0 : 10000 E / P
VEL.LPFA Bandwidth of single velocity control filter. Hz 20 : 800 500 E / P
VEL.LPFB Second Bandwidth of double velocity
control filter (First s. VEL.LPFA).
Hz 20 : 800 500 E / P
VEL.LPFMOD Type of velocity control filter (0: no filter, 1:
filter with bandwidth VEL.LPFA, 2: double
filter with bandwidths VEL.LPFA and
VEL.LPFB
– 0 : 20 0 E / P
VEL.TRKFCT Queries / updates velocity control tracking
factor
–32768 : 32767 E / P
VEL.MXRPM Queries / updates velocity control MAX
RPM value. The limit for this value is
internally calculated by the Application Bus
Voltage and the Motor Voltage Constant.
Absolute limit for velocity is 7500 RPM.
RPM 1000 : (7500) E / P
VEL.SCAL Corresponding velocity value to analog
input voltage VEL.VOLT for setting of
analog input scaling.
RPM 100 : 32767 E / P
VEL.VOLT Corresponding analog input voltage to
velocity value VEL.SCAL for setting of
analog input scaling
0.1 V 1 : 100 E / P
Velocity mode Variables:
Command Description Units Range Default E
2
/ Par. set
VEL.VREF Queries velocity reference, commanded at
analog input
RPM – / –
VREF – / –
Velocity mode Methods:
Command Description Parameter Units Range
VCRST Velocity controller parameters reset to default values: Pole
Placement controller: BW = 20 Hz, TRFCT = 0 , INRT = 0;
PI controller: GV, GVI equivalent to Bandwidth 20 Hz