RD4 CANopen®
3302-00 Code sequence
[Boolean, rw]
It sets the rotation direction of the encoder shaft and consequently defines
whether the position value output by the encoder increases when the encoder
shaft rotates clockwise (0) or counter-clockwise (1). Clockwise and counter-
clockwise rotations are viewed from shaft.
0
= clockwise rotation (default)
1 = counter-clockwise rotation
WARNING
Changing this value causes also the position calculated by the controller to be
necessarily affected. Therefore it is compulsory to set a new value in
parameter and then check the values set next to the
item.
3330-00 Kp current loop
[Unsigned32, rw]
This object contains the proportional gain used by the PI controller for the
current loop. Value has been optimized by Lika Electronic according to the
technical characteristics of the device.
Default = 200
3331-00 Ki current loop
[Unsigned32, rw]
This object contains the integral gain used by the PI controller for the current
loop. Value has been optimized by Lika Electronic according to the technical
characteristics of the device.
Default = 60
3340-00 Max current
[Unsigned32, rw]
This object defines the maximum current supplied by the power electronic to
control the motor. Parameter is expressed in mA (milliamperes). This value
cannot be greater than the one in object
3341-00 Starting Torque current
Maximum value is 5000.
Default = 5000
MAN RD4 CB E 1.5
Programming parameters
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