Rtelligent ECT60, User Manual

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ECR60/ECT60 User manual
30
0x2022 Position Trae Error
Limit
R/W/S UINT 1000to65535 4000 Pulse/rev
When the operating mode of the stepper motor is closed, when the position error
exceeds this setting, the motor will alarm and disconnect the enable. This parameter is
set immediately after it takes effect. Only ECT60 products are valid.
0x2023 Servo Mode 1 Control Parameters
Object
dictionary
Name Propert
y
Type Range The
default
value
Note
0x2023:01 PosLoop_Kp R/W/S UINT 0 to 0
10000
2000 Proportional gain:
Adjusting the motor
position response
rigidity
0x2023:02 PosLoop_Ki R/W/S UINT 0to
1000
100 Integral gain to
eliminate positional
errors when the motor
is stationary.
0x2023:03 PosLoop_Kd R/W/S UINT 0 to 0
10000
200
0x2023:04 PosLoop_Kvff R/W/S UINT 0 to100 30 Speed compensation
0x2023:05 PosLoop_Kdi R/W/S UINT 0 to500 0 Used to eliminate low-
speed resonance
Usually this gain
cannot be greater than
200
This object takes effect only if the ECT60 is closed-loop control in servo mode 1. Gain is
usually available by default.
0x2024 signal in place
Object
dictionary
Name Propert
y
Type Range The
default
Note