Settings
92
Index
Sub-ind
ex
Name
Unit
Setting range
Default
value
effective
Period
rotating.
Index
Sub-ind
ex
Name
Unit
Setting range
Default
value
effective
Period
0x20DA
0
Manual Static Balance
Torque Compensation
Value
mNm
-100000~100000
0
Immediat
ely
Y
By setting this parameter properly, the "shake action" at the moment of servo ON under gravity load can be prevented.
Please set this parameter according to the actual motor torque at the moment of Servo OFF.
This function works when the motor brake control mode is set to "drive automatic control" or "mixed control".
Index
Sub-ind
ex
Name
Unit
Setting range
Default
value
effective
Period
0x2103
0
Velocity Limit During
Torque Control Mode
rev/min
0~100000
1000
Immediat
ely
Y
Set the speed limit in the torque control mode.
The actual speed is limited by the smallest of the [max motor speed] 0x6080, [positive velocity limit value] 0x2081 and
[negative velocity limit value] 0x2082.
Index
Sub-ind
ex
Name
Unit
Setting range
Default
value
effective
Period
0x6087
0
Torque Slope
‰TN/s
1~4294967295
5000
Immediat
ely
N
Set the torque changing rate for trapezoidal torque planning in the PT mode.
Index
Sub-ind
ex
Name
Unit
Setting range
Default
value
effective
Period
0x6088
0
Torque Profile Type
-
0~0x8301
0
Immediat
ely
N
Set the torque profile type used for changing the torque in PT mode.
It is prohibited to modify this parameter when the servo is ON.
Byte0:
Torque profile type
0x00- Linear slope;
0x01-Reserved.
Byte1, Byte2, Byte3: Reserved
Summary of Contents for CoolDrive Series
Page 29: ...Preface 17 T2 model ...
Page 30: ...Preface 18 T3 model ...
Page 31: ...Preface 19 T4 model ...
Page 230: ...Monitoring 218 ...
