13. Object Dictionary
0x2109
Variable
Format
UINT
Setting Range
0 to 10000
Position Command Filter Time Constant
ALL
Default
Value
0
Unit
0.1ms
Accessi
bility
RW
PDOAllo
cation
Yes
Change
Property
Store
At all times Yes
Smooths the position command by applying low pass filter to the positioncommand. This can be used
when setting the gear ratio very high.
0x210A
Variable
Format
UINT
Position Command Average Filter Time Constant
ALL
Setting Range
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
0 to 10000
0
0.1ms RW
Yes
At all times Yes
Smooths the position command by applying the movement average filter to the positioncommand.(To be
provided in the future)
0x210B
Variable
Format
UINT
Setting Range
0 to 1000
Speed Feedback Filter Time Constant
ALL
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
2
0.1ms RW
Yes
At all times Yes
Applies low pass filter to speed feedback calculated from the encoder. In case of vibration due to gain
when system vibration occurs or load with too large inertiais applied, such vibration can be inhibitied by
setting the appropriate value.
0x210C
Variable
Format
UINT
Setting Range
0 to 100
Speed Feed-forward Gain
ALL
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
0
%
RW
Yes
At all times Yes
Sets toe feed forward gain to speed command for position control. Increasing the set value reduces
position error. Depending on the load, setting the value too high may cause vibaration or overshoot.
When tuning the gain, please increase the set value gradually.
0x210D
Variable
Format
UINT
Speed Feed-forward Filter Time Constant
ALL
Setting Range
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
0 to 1000
10
0.1ms RW
Yes
At all times Yes
Applies low pass filter to the compensation added to the speed command by speedfeed forward gain.
Using this when a large speed feed forward gain is set or the change of position command is severe will
lead to improved system stability.
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