12. Object Dictionary
0x2104
Variable
Format
UINT
Torque Command Filter Time Constant 1
ALL
Setting Range
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
0 to 1000
0
0.1ms RW
Yes
At all times Yes
Applies low passfilter to torquecommand. Application of the right value will make the torque command
smoother, increasing the system’s stability. However, too high value may increase the torque command
delay, decreasing the system’s responsivity..
0x2105
Variable
Format
UINT
Setting Range
0 to 500
Position Loop Gain 2
ALL
Default
Value
30
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
1/s
RW
Yes
At all times Yes
Sets the position loop gain used as gain group 2 for gain conversion. Please see descriptions on the
positionloop gain 1(0x2101).
0x2106
Variable
Format
UINT
Setting Range
0 to 2000
SpeedLoop Gain 2
ALL
Default
Value
50
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
Hz
RW
Yes
At all times Yes
Sets the speed loop gain used as gain group 2 for gain conversion. Please see descriptions on the
speed loop gain 1(0x2102).
0x2107
Variable
Format
UINT
Setting Range
1 to 1000
speedloopintegraltime constant 2
ALL
SpeedLoop Integral TimeConstant 2
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
50
ms
RW
Yes
At all times Yes
Sets the speed loop integral time constantused as gain group 2 for gain conversion. Please see
descriptions on the speed loop integral time constant (0x2103).
0x2108
Variable
Format
UINT
Torque Command Filter Time Constant 2
ALL
Setting Range
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
0 to 1000
0
0.1ms RW
Yes
At all times Yes
Sets the torque command filter time constant used as gain group 2 for gain conversion. Please see
descriptions on torque command filter time constant 1(0x2104).
13-28
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