7-117
tn842 Friction compensation control limit value【6-11】
Initial value Unit Setting range Effective Cn029 reset
50 % 0 ~ 100 -- --
Setting description: Limits the maximum output of friction compensation control; if set as 100, then the restriction value is
the rated current value.
tn843 Friction compensation control gain【6-11】
Initial value Unit Setting range Effective Cn029 reset
100 % 0 ~ 1000 -- --
Setting description: Limits the friction compensation control gain; if set as 100, then the gain is 1.
tn844 Position circuit feedforward gain【6-13】
Initial value Unit Setting range Effective Cn029 reset
0 % 0 ~ 100 -- --
Setting description: Same as Pn312, it can reduce the following error for position control and increase response speed. If
the feedforward gain is too big, it may cause speed overshoot and output contact INP (positioning
complete signal) to turn on and off repeatedly.
tn845.2 Disturbance observer speed feedback selection【6-14】
Initial value Unit Setting range Effective Cn029 reset
0 -- 0 ~ 3 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
132DH 2D2DH 2D2DH O O -- O --
Setting description:
Setting Description
0 No sampling and calculation
1 5kHz sampling and calculation
2 2.5kHz sampling and calculation
3 1.25kHz sampling and calculation
RS-485 CANopen EtherCAT Pi Pe Pt S T
132AH 2D2AH 2D2AH O O O O O
RS-485 CANopen EtherCAT Pi Pe Pt S T
132BH 2D2BH 2D2BH O O O O O
RS-485 CANopen EtherCAT Pi Pe Pt S T
132CH 2D2CH 2D2CH O O O -- --
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