LSIS XDL-L7NH Series, User Manual, Page: 225 / 348

9. Object Dictionary
9-53
0x250B Notch Filter 4 Width ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 100 1 Hz RW No Servo off Yes
0x250C Notch Filter 4 Depth ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 5 1 - RW No Servo off Yes
0x250D On-line Gain Tuning Mode ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 0 to 1 0 - RW No Servo off Yes
This specifies the On-line Gain Tuning Mode.
Setting values Setting details
0 On-line Gain Tuning not used
1 On-line Gain Tuning used
0x250E System Rigidity for Gain Tuning ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 20 5 - RW No Servo off Yes
This specifies the system rigidity applied for gain tuning. After the gain tuning according to the setting,
the overall gain will be set higher or lower. If the gain of the maximum setting value is not enough, carry
out the tuning manually. After the gain tuning, the following gains will be automatically changed:
Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102), speed integral time
constant 1 (0x2103), torque command filter time constant 1 (0x2104), notch filter 3 frequency (0x2507,
TBD), and notch filter 4 frequency (0x250A, TBD).
0x250F On-line Gain Tuning Adaptation Speed ALL
Variable
type
Setting range
Initial
value
Unit Accessibility
PDO
assignment
Change
attribute
Storage
UINT 1 to 5 1 - RW No Servo off Yes
This specifies the speed reflecting the change of gain when performing on-line gain tuning. The larger
the setting value is, the faster the change of gain is reflected.