Rtelligent EP Series - 3.3.8. Closed-Loop Servo Parameters [49~59]

EP Series User Manual
41
the set time, and then start to determine
whether the positioning is complete.
Set time = set value * 50us
45
16
R/W
4000
[0,5000]
Closed-loop maximum current
Set the maximum allowable current when the
drive is running in closed-loop, peak sine.
Unit: mA
46
16
R/W
50
[0,100]
Basic current percentage for closed-loop
control. Unit: %
47
16
R/W
200
[10,5000]
Level one speed feedback filter. Unit: Hz
48
16
R/W
600
[10,5000]
Level two speed feedback filter. Unit: Hz
213
16
R
0
[0,65535]
Motor feedback speed
3.3.8. Closed-loop servo parameters [49
～
59]
Table 3-15 Register details [49-59]
Register
address
Bits
Property
Default
Range
Description
49
16
R/W
0
[0,500]
Servo mode one low speed anti-resonance
gain
50
16
R/W
3000
[0,65535]
Servo mode two position loop proportional
gain
51
16
R/W
1000
[0,65535]
Servo mode two position loop integral gain
52
16
R/W
0
[0,65535]
Servo mode two speed loop damping 1
53
16
R/W
800
[0,65535]
Servo mode two speed loop damping 2
54
16
R/W
600
[0,65535]
Servo mode two speed loop feedforward
gain
55
16
R/W
512
[0,1024]
Servo mode two gravity compensation
56
16
R/W
0
[0,65535]
Servo mode two acceleration gain
57
16
R/W
0
[0,65535]
Servo mode two acceleration feedforward
gain
58
16
R/W
5000
[10,5000]
Servo mode two speed loop output filter
59
16
R/W
2000
[10,5000]
Servo mode two acceleration feedforward
filter