Rtelligent ECT60, User Manual

Page: 33 / 71

ECR60/ECT60 User manual
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dictionary y default
value
0x2026:01 PVIA_Kp R/W/S UINT 0 to 0
10000
2000 Position Proportional Gain:
Adjusting motor position
response rigidity
0x2026:02 PVIA_Ki R/W/S UINT 0to
1000
100 Integral gain to eliminate
positional errors when the
motor is stationary.
0x2026:03 PVIA_Kv1 R/W/S UINT 0 to 0
10000
200 Speed Feedback Gain 1
0x2026:04 PVIA_Kv2 R/W/S UINT 0 to100 30 Speed Feedback Gain 2
0x2026:05 PVIA_Kvff R/W/S UINT 0 to 500 0 Speed Feed-Forward Gain 1
This object takes effect under ECT60 in servo mode 2 and uses a vector control
algorithm.
Usually PVIA_Kv1, PVIA_Kv2 , PVIA_Kvff
0x2043 speed Given
Object
dictionary
Name Propert
y
Type Range The default
value
Unit
0x2043 Speed Reference R UINT -3000 to 3000 0 Rpm
This object reflects the given speed of the current motor.
0x2044 Speed Feedback
Object
dictionary
Name Propert
y
Type Range The default
value
Unit
0x2044 Speed Feedback R UINT -3000 to 3000 0 Rpm
This object reflects the actual speed of the current motor.
The ECT60 returns the actual speed, and the value returned by eCR60 is the given speed.
0x2048 voltage
Object
dictionary
Name Propert
y
Type Range The default
value
Unit
0x2048 Bus Voltage R UINT --- 0 10mV