Integral constant Ki in PID phasing controller. This controller is used to hold the position during offset
detection procedure.
WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation.
Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want
to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at
high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0).
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Phasing
controller Kd
0x2009:6 REAL 32 0 0 readwrite
Derivative constant Kd in PID phasing controller. This controller is used to hold the position during offset
detection procedure.
WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation.
Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want
to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at
high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0).
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