0x2507 - Control loops configuration
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2507 | 0x01 | Bypass torque loop | UINT8 | RW | No | Yes | Data type | 0 | - |
0x2507 | 0x02 | Position feedback openloop | UINT8 | RW | No | Yes | Data type | 0 | - |
| 0x2507 | 0x03 | Velocity feedback openloop | UINT8 | RW | No | Yes | Data type | 0 | - |
| 0x2507 | 0x04 | Torque feedback openloop | UINT8 | RW | No | Yes | Data type | 0 | - |
| 0x2507 | 0x05 | Velocity mode use Position loop | UINT8 | RW | No | Yes | Data type | 0 | - |
This object configures all parameters related to the control loops configuration.
SubIndex description:
0x01 (Bypass torque loop): This object allows to bypass completely the torque control loop, connecting internally the output of the Position or Velocity control loop to the PWM generation block. Writing a value different than 0 to this register will bypass torque loop and a 0 otherwise.
Please, notice that bypassing torque control loop will also remove the capacity of regulate the current generated by the system. Overcurrent / i2t protection will continue working even if control loop is disabled.
- 0x02 (Position feedback openloop): This object allows to disconnect position feedback from position control loop, allowing in such a way to work as open loop. This method could be specially useful for tuning purposes. Position actual value will still be valid. Writing a value different than 0 to this register will disconnect feedback and a 0 otherwise.
- 0x03 (Velocity feedback openloop): This object allows to disconnect velocity feedback from velocity control loop, allowing in such a way to work as open loop. This method could be specially useful for tuning purposes. Velocity actual value will still be valid. Writing a value different than 0 to this register will disconnect feedback and a 0 otherwise.
- 0x04 (Torque feedback openloop): This object allows to disconnect torque feedback from torque control loop, allowing in such a way to work as open loop. This method could be specially useful for tuning purposes. Torque actual value will still be valid. Writing a value different than 0 to this register will disconnect feedback and a 0 otherwise..
- 0x05 (Velocity mode use Position loop): This objects determines which control loop; position or velocity; is used in Profile Velocity Mode and Homing Mode. In some low speed applications with position feedback, using position control loop instead of velocity control loop for velocity movement could improve the accuracy and stability of the system. Writing a value different than 0 to this register will force system to uses position loop in velocity modes and a 0 will force to use the velocity loop.