LSIS XDL-L7NH Series, User Manual, Page: 201 / 348

9. Object Dictionary
9-29
0x2105 Position Loop Gain 2 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 500 30 /s RW Yes Always Yes
This specifies the position loop gain used as gain group 2 for gain switching. For more information,
refer to the description of the Position Loop Gain 1 (0x2101).
0x2106 Speed Loop Gain 2 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 2000 50 Hz RW Yes Always Yes
This specifies the speed loop gain used as gain group 2 for gain switching. For more information, refer
to the description of the Speed Loop Gain 1 (0x2102).
0x2107 Speed Loop Integral Time Constant 2 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 1000 50 ms RW Yes Always Yes
This specifies the integral time constant of the speed loop used as gain group 2 for gain switching. For
more information, refer to the description of the Speed Loop Integral Time Constant 1 (0x2103).
0x2108 Torque Command Filter Time Constant 2 ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 1000 0 0.1ms RW Yes Always Yes
This specifies the time constant of the torque command filter used as gain group 2 for gain switching.
For more information, refer to the description of the Torque Command Filter Time Constant 1 (0x2104).
0x2109 Position Command Filter Time Constant ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 10000 0 0.1ms RW Yes Always Yes
This applies a low pass filter for position command to smoothen the position command. Especially, this
can be used for setting a higher gear ratio.