Estun Summa ED3S - Page 151

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-65
Index
Subindex
Name
Access
Data
Type
Unit
Range
Default
31CB
00
Speed Loop Integral
Time
RW
INT32
0.1ms
1 to 5000
125
31D4
00
Speed Feedforward
RW
INT32
%
0 to 100
0
31D5
00
Speed Feedforward
Filter Time
RW
INT32
0.1ms
0 to 640
0
31D6
00
Torque Feedforward
RW
INT32
%
0 to 100
0
31D7
00
Torque Feedforward
Filter Time
RW
INT32
0.1ms
0 to 640
0
31FC
00
Model Following
Control Gain Correction
RW
INT32
%
20 to 500
100
31FE
00
Model Following
Control Torque
Feedforward
RW
INT32
%
0 to 200
100
3201
00
Limit for Load
Oscillation Suppression
RW
INT32
rpm
0 to 1000
100
3169
00
Internal Torque
Feedforward Method
RW
INT32
－
0 to 3
0
02
Torque Feedforward
Method
RW
INT32
－
0 to 3
0
03
Speed Feedforward
Method
RW
INT32
－
0 to 3
0
Recommended Configuration
RPDO
TPDO
Remarks
6040h: Controlword
6041h: Statusword
Mandatory
60FF: Target Velocity
－
Mandatory
－
6064h: Position Actual Value
Optional
－
606Ch: Velocity Actual value
Optional
6083h: Profile Acceleration
－
Optional
6084h: Profile Deceleration
－
Optional
6060h: Modes of operation
6061h: Modes of Operation display
Optional
6.6.2 Cyclic Synchronous Velocity (CSV) Mode
In this mode of operation, the host controller gives the target speed in 60FFh to the Drive using cyclic
synchronization. Speed control and torque control are performed by the Drive.