Rtelligent ECT Series - Page 22

ECT Series User Manual
20
bandwidth of the speed loop feedback parameter
FV1_HZ is used to set the bandwidth of the primary low-pass filter for speed feedback filter.
FV2_HZ is used to set the bandwidth of the secondary low-pass filter for speed feedback filter.
Normally set FV2HZ = 3* FV1_HZ.
FPOUT_HZ is used to set the bandwidth of the FOC speed loop output variable, usually using
the default value.
2.2.24 0x2026 Servo Mode 2 Control Parameters
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x2026：01
P VIA_Kp
R/W/S
UINT
0~
10000
2000
Proportional gain: adjust the
motor position response
rigidity
0x2026：02
P VIA_K i
R/W/S
UINT
0~
1000
100
Integral gain: used to eliminate
the position error when the
motor is stationary.
0x2026：03
P VIA_K v1
R/W/S
UINT
0~
10000
200
Speed feedback gain1
0x2026：04
P VIA_K v2
R/W/S
UINT
0~100
30
Speed feedback gain 2
0x2026：05
P VIA_K vff
R/W/S
UINT
0~500
0
Speed feedforward gain 1
This object takes effect under the condition of ECT60 driver working in servo mode 2 and
adopts vector control algorithm.
Usually: PVIA_Kv1+ PVIA_Kv2 > PVIA_Kvff
2.2.25 0x2043 Speed given
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2043
Speed Reference
R
UINT
-3000~3000
0
RPM
This object reflects the given speed of the current motor.
2.2.26 0x2044 Speed feedback
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2044
Speed Feedback
R
UINT
-3000~3000
0
RPM
This object reflects the actual speed of the current motor.