10. Application Functions
The wating time and conversion time during gain conversion are as follows.
Gain group 1
positionloop gain1(0x2101)
speedloop gain1(0x2102)
speedloopintegraltime constant
1(x2103)
torquecommandfiltertime constant
1(0x2104)
Gain conversion time
1(0x211A)
Gain conversion waiting
time1(0x211C)
Gain conversion time 2(0x211B)
Gain conversion waiting
time2(0x211D)
Gain group2
positionloop gain2(0x2105)
speedloop gain2(0x2106)
speedloopintegraltime constant
2(x2107)
torquecommandfiltertime constant
2(0x2108)
Waiti대ng기ti시me간11 C전on환ve시rs간io1n time 1
0x211C 0x211A
Waitin대g기tim시e간22 c전on환ve시rs간io2n time 2
0x211D 0x211B
G게ain인gr그ou룹p 11
Ga게in인gro그up룹22
Gain 게co인nv전ers환io조n c건on성dit립ion satisfied
(ex. GAIN2, ZSPD, INPOS1)
G게a인in g그ro룹up11
G게a인in 전co환nv조ers건ion미c성on립dition (not) satisfied
Related Objects
Index
0x2119
Sub
Index
Name
- Gain Conversion Mode
0x211A
- Gain Conversion Time 1
0x211B
- Gain Conversion Time 2
0x211C
- Gain Conversion Waiting Time 1
0x211D
- Gain Conversion Waiting Time 2
T시im간e
Variable
Format
Accessibility
PDO
Allocation
Unit
UINT
RW
Yes
-
UINT
RW
Yes
ms
UINT
RW
Yes
ms
UINT
RW
Yes
ms
UINT
RW
Yes
ms
10-33
