0x6099:1 Homing speeds: Speed during search for switch
0x6099:2 Homing speeds: Speed during search for zero
0x2010:6 Torque controller: Field weakening starting speed
0x2010:7 Torque controller: Field weakening ending speed
0x2012:4 Position controller: Position loop integral limit
0x2013:6 Gain scheduling: Position loop integral limit 0
0x2013:15 Gain scheduling: Position loop integral limit 1
0x2013:2 Gain scheduling: Threshold velocity 0
0x2013:11 Gain scheduling: Threshold velocity 1
3.1.3.4.4 Example
When a dual-sensor setup is used with one encoder mounted after a reducer with a gear ratio of 1:100 the
default velocity unit rpm causes severe inaccuracy in the motion control.
1. In OBLAC Drives choose 0.001 RPM for SI unit velocity.
When using a version of OBLAC Drives before 19.1.0, manually write 0d4256450304 to object 0x60A9 SI
unit velocity through SDO. The terminal of OBLAC Drives can be used for this operation with the following
code line:
2. OBLAC Drives will automatically scale the affected objects.
3.1.3.4.5 Parameters
0x60A9 SI unit velocity This object defines the velocity unit.
0x606B Velocity demand value Output of position controller in position mode/trajectory generator in
velocity mode.
0x606C Velocity actual value Provides the value read at the velocity sensor (or the derivation of the
position signal).
0x606D Velocity window This value reflects each side of the target velocity.
0x606F Velocity threshold Configures the velocity that is considered zero velocity.
0x6080 Max motor speed Sets the maximum allowed speed for the motor in either direction.
0x6081 Profile velocity Configures the velocity target for the end of the acceleration ramp during
profiled motion.
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