LSIS XDL-L7NH Series, User Manual, Page: 202 / 348

9. Object Dictionary
9-30
0x210A Position Command Average 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 moving average filter for position command to smoothen the position command. The
value of Position Command Filter Time Constant (0x2109) is first applied. Position Command Average
Filter Time Constant (0x210A) is only applied if the value is 0.
0x210B Speed Feedback Filter Time Constant ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 1000 5 0.1ms RW Yes Always Yes
This applies a low pass filter to the speed feedback signal calculated from the encoder. In case that
system vibration occurs or vibration occurs when a gain load with too large of an inertia is applied, you
can suppress the vibration by setting appropriate value.
0x210C Velocity Feed-forward Gain ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 100 0 % RW Yes Always Yes
This specifies the feedforward gain for the speed command during position control. The larger the
setting is, the less the positional error is. If you set a too large value depending on the load, vibration or
overshoot may occur. For gain tuning, increase the setting value gradually.
0x210D Velocity Feed-forward Filter Time Constant
ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 1000 10
0.1
ms
RW Yes Always Yes
This applies low pass filter to the compensated amount added to the speed command by the speed
feedforward gain. You can enhance the system stability by using it when you set a large speed
feedforward gain or when there is excessive change in position command.
0x210E Torque Feed-forward Gain ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 100 0 % RW Yes Always Yes
This specifies the feedforward gain for the torque command during speed control.