Estun Summa ED3S, Product Manual

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Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved. 6-15
Index Subindex Name Access Data Type Unit Range Default
606C 00
Velocity Actual
value
RO INT32 Reference unit/s
－ －
6077 00
Torque Actual
value
RO INT16 0.1% -5000 to 5000 0
6093
01 numerator RW UINT32
－
0 to
4294967295
1
02 divisor RW UINT32
－
0 to
4294967295
1
60B1 00 Velocity Offset RW INT32 Reference unit/s
-2147483648
to 2147483647
0
60B2 00 Torque Offset RW INT16 0.1%
–32768 to
32767
0
60C2
01
Interpolation time
period value
RW UINT8
－
1~250
－
02
Interpolation time
index
RW INT8 s -6~-3 -3
60F4 00 Following Error RO INT32 Reference unit
-2147483648
to 2147483647
－
60FC 00
Position Demand
Internal Value
RO INT32 Encoder unit
-2147483648
to 2147483647
－
31CD 00
Torque Command
Filter Time
RW INT32 0.01ms 0 to 2500 50
31CA 00 Speed Loop Gain RW INT32 rad/s 1 to 10000 500
31CB 00
Speed Loop
Integral Time
RW INT32 0.1ms 1 to 5000 125
31CC 00
Position Loop
Gain
RW INT32 1/s 0 to 1000 40
31D4 00
Speed
Feedforward
RW INT32 % 0 to 100 0
31D5 00
Speed
Feedforward Filter
Time
RW INT32 0.1ms 0 to 640 0
31D6 00
Torque
Feedforward
RW INT32 % 0 to 100 0
31D7 00
Torque
Feedforward Filter
Time
RW INT32 0.1ms 0 to 640 0
31FC 00
Model Following
Control Gain
Correction
RW INT32 % 20 to 500 100
31FE 00
Model Following
Control Torque
Feedforward
RW INT32 % 0 to 200 100