13. Object Dictionary
Gain Adjustment(0x2100~ )
0x2100
Variable
Format
UINT
Setting Range
0 to 3000
Inertia Ratio
ALL
Default
Value
100
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
%
RW
No
At all times Yes
Sets the load inertia ratio to the motor rotation inertia by %.
Inertia rate = load inertia/ motor rotation inertia x 100
Load inertia rate is a very importantcontrol variable for the servo operation characteristcs. The inertia
ratio should be accurately set to achieve optimal servo operation. The inertial ratio can be estimated by
automatic gain tuning. Real-time gain tuning will estimate the inertia continuously during operation.
0x2101
Variable
Format
UINT
Setting Range
0 to 500
Position Loop Gain 1
ALL
Default
Value
50
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
1/s
RW
Yes
At all times Yes
Sets the overall responsivity of the positioncontroller. Responsivity increases as the set value increases.
Too high responsivity may cause vibration depending on the load.
0x2102
Variable
Format
UINT
Setting Range
0 to 2000
SpeedLoop Gain 1
ALL
Default
Value
75
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
Hz
RW
Yes
At all times Yes
Sets the overall responsivity of the speed controller. O increase the overall system responsibity, both
position loop gain and speed loop gain should be set high. Too high responsivity may cause vibration
depending on the load.
0x2103
Variable
Format
UINT
Setting Range
1 to 1000
SpeedLoop Integral TimeConstant 1
ALL
Default
Value
50
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
ms
RW
Yes
At all times Yes
Sets the integraltime constant of the speed controller. Higher value decreases the error under the steady
state (stop or operation at regular speed). However, excessive state (acceleration/deceleration) may
cause vibration..
13-27
