Estun Summa Series - Page 101

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-15
Index
Subindex
Name
Access
Data Type
Unit
Range
Default
606C
00
Velocity Actual
value
RO
INT32
Reference unit/s
－
－
6077
00
Torque Actual
value
RO
INT16
0.1%
-5000 to 5000
0
6093
01
numerator
RW
UINT32
－
0 to
4294967295
1
02
divisor
RW
UINT32
－
0 to
4294967295
1
60B1
00
Velocity Offset
RW
INT32
Reference unit/s
-2147483648
to 2147483647
0
60B2
00
Torque Offset
RW
INT16
0.1%
–32768 to
32767
0
60C2
01
Interpolation time
period value
RW
UINT8
－
1~250
－
02
Interpolation time
index
RW
INT8
s
-6~-3
-3
60F4
00
Following Error
RO
INT32
Reference unit
-2147483648
to 2147483647
－
60FC
00
Position Demand
Internal Value
RO
INT32
Encoder unit
-2147483648
to 2147483647
－
31CD
00
Torque Command
Filter Time
RW
INT32
0.01ms
0 to 2500
50
31CA
00
Speed Loop Gain
RW
INT32
rad/s
1 to 10000
500
31CB
00
Speed Loop
Integral Time
RW
INT32
0.1ms
1 to 5000
125
31CC
00
Position Loop
Gain
RW
INT32
1/s
0 to 1000
40
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