Parker PD-04 Series

Parker Hannifin
P series User Guide 197
0x2104
Torque Command Filter Time Constant 1
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 1000
0
0.1ms
RW
Yes
At all
times
Yes
Applies low pass filter to torque command. Application of the right value will make the
torque command smoother, increasing the system‘s stability. However, too high value
may increase the torque command delay, decreasing the system‘s responsivity.
0x2105
Position Loop Gain 2
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 500
30
1/s
RW
Yes
At all
times
Yes
Sets the position loop gain used as gain group 2 for gain conversion. Please see
descriptions on the position loop gain 1(0x2101).
0x2106
Speed Loop Gain 2
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 2000
50
Hz
RW
Yes
At all
times
Yes
Sets the speed loop gain used as gain group 2 for gain conversion. Please see
descriptions on the speed loop gain 1(0x2102).
0x2107
Speed Loop Integral Time Constant 2
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
1 to 1000
50
ms
RW
Yes
At all
times
Yes
Set the speed loop integral time constant used as gain group 2 for gain conversion.
Please see descriptions on the speed loop integral time constant (0x2103).
0x2108
Torque Command Filter Time Constant 2
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 1000
0
0.1ms
RW
Yes
At all
times
Yes
Sets the torque command filter time constant used as gain group 2 for gain conversion.
Please see descriptions on torque command filter time constant 1(0x2104).