7-75
Pn311 Position Loop Gain 2
【
6-2
】
Initial Value Unit Setting Range Effective Cn029 Reset
40 rad/s 1 ~ 2000 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
0311H 230BH 230BH O O O -- --
Setting Description: Please refer to Pn310 Description for the Setting Method
Pn312 Position Loop Feed Forward Gain
【
6-2
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 % 0 ~ 100 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
0312H 230CH 230CH O O O -- --
Setting Description: It can reduce the tracking error of position control and speed up reaction. If the feed forward gain is
too large, speed overshoot and repeatedly turn on/off of output contact INP (positioning completion
signal) may occur.
Pn313 Internal / External Position Command One time Smoothing Acceleration /
Deceleration Time Constant
【
5-4-4
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 ms 0 ~ 10000
★
--
RS-485 CANopen EtherCAT Pi Pe Pt S T
0313H 230DH 230DH O O O -- --
Setting Description: Will smooth the Position Pulse Command of originally fixed frequency. The definition of External
Position Command One Time Smoothing Acceleration / Deceleration Time Constant is the time of
the Position Command Frequency starts one time delay rise from zero to 63.2% of the External
Position Pulse Command Frequency, the schematic diagram is as follows:
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