12. Object Dictionary
0x2113
Variable
Format
UINT
Setting Range
0 to 5000
Emergency Stop Torque
ALL
Default
Value
1000
Unit
0.1%
Accessi
bility
RW
PDOAllo
cation
Yes
Change
Property
Store
At all times Yes
Sets the stop torque for emergency stop (by POT, NOT, ESTOP input
0x2114
Variable
Format
UINT
Setting Range
0 to 4
P/PI Control Conversion Mode
ALL
Default
Value
0
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
-
RW
Yes
At all times Yes
Sets the PI control / P control conversion mode. Using this function imporves the speed control
characteristics, reducing overshoot during speed operation as well as position dtermination time during
position operation.
Set Value
0
1
2
3
4
Setting Details
PI control at all times
Convert to P control when the command torque is over the P control
switch torque(0x2115)
Convert to P control when the commandspeed is over the P control
switch speed(0x2116)
Convert to P control when the acceperation command is over the P
control switch speed(0x2117)
Convert to P control when the following error is over the P control switch
following error(0x2117)
0x2115
Variable
Format
UINT
Setting Range
0 to 5000
P Control Switch Torque
ALL
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
500
0.1%
RW
Yes
At all times Yes
See descriotions on P/PI control conversion mode (0X2114)
0x2116
Variable
Format
UINT
Setting Range
0 to 6000
P Control Switch Speed
ALL
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
100
rpm
RW
Yes
At all times Yes
See descriotions on P/PI control conversion mode (0X2114)
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