Tsino Dynatron EtherCAT CoolDrive RC Series, User Manual

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Parameter description: The velocity following error detection function is enabled/disabled through
parameter 0x2011.Byte2. If the velocity following error detection is enabled, when the velocity error exceeds the
set value of 0x20A3, and the lasting time exceeds the set value of 0x20A4, the drive will report a fault of big
velocity following error.
User permission: User/Engineer.
Parameter permission:
Read and Write
Zero Velocity Window 7.9.12
Number Index Name Unit Setting range
Default
value
Effective
time
119 0x606F
Zero velocity
threshold
inc/s 1~65535 8738 Immediately
Parameter description: Within a specific period (0x6070), if the servo speed is lower than the set value, the
drive will assume the servo motor is motionless. The default value is 0.5r/min: 20Bit is corresponding to 8738;
21Bit is corresponding to 17476.
User permission: User/Engineer.
Parameter permission:
Read and Write
Number Index Name Unit Setting range
Default
value
Effective
time
120 0x6070
Zero velocity
threshold time
ms 1~10000 10 Immediately
User permission: User/Engineer.
Parameter permission:
Read and Write
Notch Filter 7.9.13
Notch filters are mainly used for driving mechanical equipments with high-velocity and high-precision. In
such cases, servo gains are usually set to be relatively high, which may cause mechanical vibration. Vibration
frequencies can be filtered through notch filters, resulting in higher gains and faster servo response. At present,
R6 supports two notch filter functions.
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