12. Object Dictionary
0x210E
Variable
Format
UINT
Setting Range
0 to 100
Torque Feed-forward Gain
ALL
Default
Value
0
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
%
RW
Yes
At all times Yes
Sets toe feed forward gain to torque command for speed control.
0x210F
Variable
Format
UINT
Torque 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 torque command by torquefeed forward
gaintorque
0x2110
Variable
Format
UINT
Setting Range
0 to 4
TorqueLimit Function Select
ALL
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
2
-
RW
Yes
At all times Yes
Selects the function to limit the drive’s output torque.
13-30
    "