Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x2011 Velocity Control Switch
Index
0x2011
Object type
VAR
Name
Velocity Control Switch
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
NO
rw
UINT32
-
Velocity Control Switch
Byte0: Zero velocity lock shaft control
0x00-Disable zero velocity lock shaft control;
0x01-Enable zero velocity lock shaft control.
Byte1: Velocity compensation control switch
0x00-Disable velocity compensation control;
0x01-Enable velocity compensation control switch.
Byte2: Detection switch of velocity following error
0x00-Disable detection of velocity following error;
0x01-Enable detection of velocity following error.
Byte3: Enabling switch of position control overflow detection in velocity mode
0x00-Disable position control overflow detection;
0x01-Enable position control overflow detection.
0x2018 Disturbance Torque Compensation Lowpass Filter Cutoff Frequency
Index
0x2018
Object type
VAR
Name
Disturbance Torque Compensation
Lowpass Filter Cutoff Frequency
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
NO
rw
UINT32
Hz
Disturbance Torque Compensation Lowpass
Filter Cutoff Frequency
System oscillation can be caused due to inappropriately set of this parameter, therefore it should be set carefully. The
higher the parameter value, the better the theoretical compensation effect. While since it may cause system oscillation, the
actual effect may not be optimal.
0x2019 Disturbance Torque Compensation gain
Index
0x2019
Object type
VAR
Name
Disturbance Torque Compensation gain
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
NO
rw
UINT32
%
Disturbance Torque Compensation gain
Disturbance torque compensation gain setting. When it is set to 0, the disturbance torque compensation function is
disabled.
0x2022 Torque Control Switch
Index
0x2022
Object type
VAR
Name
Torque Control Switch
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
NO
rw
UINT32
-
Torque Control Switch
Byte0:
79
Содержание EtherCAT CoolDrive RC Series
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Страница 18: ...Tsino Dynatron Electrical Technology Beijing Co Ltd Dimension Drawing of RC4 2 3 3 8 ...
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Страница 20: ...Tsino Dynatron Electrical Technology Beijing Co Ltd Dimension Drawing of RC6 2 3 4 1 ...