Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x00 - Pulsating torque compensation control switch
0x01 - Enable pulsating torque compensation control
Byte1: Torque compensation control switch
0x00 - Torque compensation control is disabled;
0x01 - Torque compensation control is enabled.
Byte2: Static balance torque control switch
0x00 - Disable the static balance torque control;
0x01 - Enable the static balance torque control.
Byte3: Friction compensation control switch
0x00 - Disable the friction compensation control;
0x01 - Enable friction compensation control
0x202B Position Saved on Last Power Off
Index 0x202B Object type VAR Name Position Saved on Last Power Off
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO ro INT32 inc Position Saved on Last Power Off
Provides the position saved on the servo drive's last power off. This parameter is read-only.
0x2031 Position control cycle time selection
Index 0x2031 Object type VAR Name Position control cycle time selection
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT16 - Position control cycle time selection
Set the position control cycle time, and set the unit to a multiple of the velocity loop control cycle.
0x2032 Velocity control cycle time selection
Index 0x2032 Object type VAR Name Velocity control cycle time selection
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT16 - Velocity control cycle time selection
Set the velocity control cycle time, and set the unit to a multiple of the torque loop control cycle.
0x2065 Vector Control switch
Index 0x2065 Object type VAR Name Vector Control switch
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 - Vector Control Switch
Byte0: Decoupling control switch
0x00-Disable decoupling control;
Description: The settings of motor parameter 0x20C4 and 0x20C6 will not influence the motor control.
0x01-Complete decoupling control;
Description: The settings of motor parameter 0x20C4 and 0x20C6 will both influence the motor control.
0x02-Partial decoupling control 1;
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