Estun Summa Series - Page 154

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-68
Index
Subindex
Name
Access
Data
Type
Unit
Range
Default
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
60FFh: Target Velocity
－
Mandatory
－
6064h: Position Actual Value
Optional
－
606Ch: Velocity Actual value
Optional
6060h: Modes of operation
6061h: Modes of Operation display
Optional