Rtelligent ECT Series - Uint 0~8

ECT Series User Manual
14
2.2.10 0x200A Shaft lock time
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2009
Soft lock Time
R/W/S
UINT
0~65535
1000
50 us
When ECR60 is enabled, the stepper motor needs to be locked for initial positioning. In order to
reduce the jitter of initial positioning, ECR60 has a built-in ramp-locking function. This object is
used to set the ramp time of the motor shaft lock when the motor is enabled.
Shaft lock time = set value*50us*2 = set value*100us
2.2.11 0x200B Current loop parameters
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x200B:01
AutoPI enable
R/W/S
UINT
0~1
1
The driver identify the motor
parameters while positioning
for the first time and
automatically calculates the PI
gain
0-- disable; 1-- enable
0x200B:02
Iloop_Kp
R/W/S
UINT
100~
65535
1000
0x200B: When 01 is 1, this
register cannot be set.
When it is 0, users can set
0x200B:03
Iloop_Ki
R/W/S
UINT
0~
10000
200
0x200B:04
Iloop_Kc
R/W/S
UINT
0~1024
256
Anti-integral saturation
coefficient.
ECT60 uses current control to achieve subdivision operation of stepper motors. ECT60 adopts
automatic parameter recognition algorithm by default to recognize the electrical parameters of
the motor and automatically calculate the appropriate current loop PI parameters. When the
automatically identified PI parameters cannot meet the requirements, users can set the
parameters by themselves.