Rtelligent ECT Series - Page 21

ECT Series User Manual
19
error when the motor
is stationary.
0x2023：03
PosLoop_Kd
R/W/S
UINT
0~
10000
200
0x2023：04
PosLoop_Kvff
R/W/S
UINT
0~100
30
Speed compensation
0x2023：05
PosLoop_Kdi
R/W/S
UINT
0~500
0
Used to eliminate
low-speed resonance
Usually this gain
cannot be greater than
200
This object only takes effect when ECT60 adopts servo mode 1 for closed-loop control. The
gain is usually the default.
2.2.22 0x2024 In Place Signal
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x2024：01
InPosMode
R/W/S
UINT
0~10000
2000
In place signal judgment mode
0—— Detection at any time
1—— Detection after pulse
command stops
0x2024：02
InPosCnt
R/W/S
UINT
0~1000
100
When the position error is less
than the set pulse value and
continues for the set in place
time, it is judged to be in place.
0x2024：03
InPosTime
R/W/S
UINT
0~10000
200
This object takes effect in the closed loop mode of ECT60, and is used to detect whether the
motor is within the set accuracy range.
2.2.23 0x2025 Servo Speed Filter
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x2025：01
FV1_HZ
R/W/S
UINT
0~1000
200
Filter when Servo
Mode 2 is set
0x2025：02
FV2_HZ
R/W/S
UINT
0~2000
600
0x2025：03
FPOUT_HZ
R/W/S
UINT
0~5000
5000
This object takes effect under the condition of ECT60 servo mode 2 and is used to set the