Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x2028 Acceleration Feedforward Gain
Index
0x2028
Object type
VAR
Name
Acceleration Feedforward Gain
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT32
‰
Acceleration Feedforward Gain
Set the acceleration feedforward gain.
0x2040 Position Control Gain1
Index
0x2040
Object type
VAR
Name
Position Control Gain1
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT32
‰
Position Control Gain1
The greater the set value of the position control gain1, the higher the gain, the greater the servo rigidity and the better
following with the position commands, the smaller the position error, and the shorter setting time under the same
command conditions. Due to the constraint of mechanical characteristics, a high set value would cause overshoot or
vibration.
0x2041 Position Control Feedforward 1
Index
0x2041
Object type
VAR
Name
Position Control Feedforward 1
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT32
‰
Velocity Control Feedforward Gain 1
Position control feedforward factor 1 is a parameter opened for shortening the velocity loop setting time. Increasing the
velocity feedforward gain can improve the position following error, but a too high value may cause mechanical vibration.
0x2042 Position Control Gain2
Index
0x2042
Object type
VAR
Name
Position Control Gain2
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT32
‰
Position Loop Proportional Gain2
This parameter is valid when parameter 0x2040 is set to 0. The greater the set value of the position loop proportional
gain2, the higher the gain, the greater the servo rigidity and the better following with the position commands, the smaller
the position error, and the shorter setting time under the same command conditions. Due to the constraint of mechanical
characteristics, a high set value would cause overshoot or vibration.
0x2043 Position Control Feedforward 2
Index
0x2043
Object type
VAR
Name
Position Control Integration time constant
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT32
us
Position Control Integration time constant
This parameter is valid when parameter 0x2040 is set to 0. The smaller the set value of position control integration time,
the better responding to the position commands. However, due to the constraint of mechanical characteristics, a small set
value may cause vibration and noise. Increasing the position control integration time can reduce the position overshoot
during positioning, but a too high value may slow down the system response.
89
Содержание EtherCAT CoolDrive RC Series
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