Estun Summa Series - Page 98

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-12
Index
Subindex
Name
Access
Data Type
Unit
Range
Default
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
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
607Ah: Target position
6064h: Position Actual Value
Mandatory
6081h: profile velocity
－
Mandatory
6083h: profile acceleration
－
Optional (cannot be 0)
6084h: profile deceleration
－
Optional (cannot be 0)
6060h: mode of operation
6061h: modes of operation display
Optional