13. Object Dictionary
0x2117
Variable
Format
UINT
Setting Range
0 to 60000
P Control Switch Acceleration
ALL
Default
Value
1000
Unit
rpm/s
Accessi
bility
RW
PDOAllo
cation
Yes
Change
Property
Store
At all times Yes
See descriotions on P/PI control conversion mode (0X2114)
0x2118
Variable
Format
UINT
Setting Range
0 to 60000
P Control Switch Following Error
ALL
Default
Value
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
100
pulse
RW
Yes
At all times Yes
See descriotions on P/PI control conversion mode (0X2114).
0x2119
Variable
Format
UINT
Setting Range
0 to 7
Gain Conversion Mode
ALL
Default
Value
0
Accessi PDOAllo Change
Unit
Store
bility
cation
Property
-
RW
Yes
At all times Yes
Converting between two gain groups improves the overall system performance. Depending on the
conversion mode, you can either manually convert through external input signal or automatically convert
based on the output signal.
gain group 1
positionloop gain1(0x2101)
speedloop gain1(0x2102)
speedloopintegraltime constant
1(x2103)
torquecommandfiltertime constant
1(0x2104)
gaingroup 2
positionloop gain2(0x2105)
speedloop gain2(0x2106)
speedloopintegraltime constant
2(x2107)
torquecommandfiltertime
constant2(0x2108)
13-33
