RS Automation OEMax CSD7, Руководство пользователя, Страница: 165 / 332

Object Dictionary
7-39
CSD7 Servo Drive (EtherCAT)
▶ The specified value is used at the gain switching mode selected from [Ft-0.06][D2].
0x210D Position Gain Switching Time CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~10000 2 byte(UINT) 0.125ms RW - Always 0 Ft-1.13
▶ RSWare : Drive - Tuning - Gain Switching - Position Gain Switching Time
▶ Adjust as Position Gain Switching Time step by step when switching gain value from
first gain to second gain.
0x210E 2nd Velocity Loop P Gain CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~10000 2 byte(UINT) - RW - Always 60 Ft-1.14
▶ RSWare : Drive - Tuning - 2nd Regulator Gains - 2nd Velocity Regulator P Gain
▶ It determines the responsiveness of velocity control.
0x210F 2nd Velocity Loop I Gain CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~60000 2 byte(UINT) - RW - Always 26 Ft-1.15
▶ RSWare : Drive - Tuning - 2nd Regulator Gains - 2nd Velocity Regulator I Gain
▶ Removes steady state velocity error.
▶ Overshoot in velocity response can occur if set value is too high.
0x2110 2nd Position Loop P Gain CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~700 2 byte(UINT) Hz RW - Always 20 Ft-1.16
▶ RSWare : Drive - Tuning - 2nd Regulator Gains - 2nd Position Regulator Kp Gain
▶ It determines the responsiveness of position control loop.
▶ Change set value according to rigidity of load.
0x2111 3rd Velocity Loop P Gain CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~10000 2 byte(UINT) - RW - Always 60 Ft-1.17
▶ RSWare : Drive - Tuning - 3rd Regulator Gains - 3rd Velocity Regulator P Gain
▶ It determines the responsiveness of velocity control loop.