RS Automation OEMax CSD7, Руководство пользователя, Страница: 172 / 332

7-46
Object Dictionary
CSD7 Servo Drive (EtherCAT)
Standard Group 3
0x2300 Encoder Pulse Setting CSP
Sub-Index 0 Number of Entries
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 2 byte(UINT) - RO - - 4 Ft-3.00
Sub-Index 1 Reserved
Sub-Index 2 Reserved
Sub-Index 3 Direction Change of Encoder Pulse Output
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~1 1 byte(USINT) - RW - Servo Off 0 Ft-3.00[D2]
▶ Sub-Index 3
RSWare : Drive - Encoders - Encoder Output Forward Direction
It set the pulse direction that is output from servo drive to external device.
값 Description RSWware 명칭
0
During Forward Rotation, Encoder Output Phase A have a lead
of 90° over Phase B.
A Leads B
1
During Forward Rotation, Encoder Output Phase B have a lead
of 90° over Phase A.
B Leads A
0x2301 LPF Bandwidth of Position Command CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~1000 2 byte(UINT) Hz RW - Always 0 Ft-3.01
▶ RSWare : Drive - Tuning - Main Position Regulator Gains - Position Command LPF
Bandwidth
▶ Sets low pass cutoff frequency of speed command to suppress high frequency
components.
0x2302 Position Loop FF Gain CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~100 1 byte(USINT) % RW - Always 0 Ft-3.02
▶ RSWare : Drive - Tuning - Main Position Regulator Gains - Position Regulator Kff Gain
▶ The higher the value, the faster the position completion time and the smaller position
error at transient response condition.
▶ The value can differ depending on load's type or rigidity; an excessively high value
causes vibration.