12. Object Dictionary
0x250A
Variable
Format
UINT
Setting Range
50 to 5000
Notch Filter 4 Frequency
Default
Value
5000
Accessi PDOAllo
Unit
bility
cation
Hz
RW
No
Change
Property
Servo Off
ALL
Store
Yes
0x250B
Variable
Format
UINT
Setting Range
1 to 100
Notch Filter 4 Width
Default
Value
1
Accessi PDOAllo
Unit
bility
cation
Hz
RW
No
Change
Property
Servo Off
ALL
Store
Yes
0x250C
Variable
Format
UINT
Setting Range
1 to 5
Notch Filter 4 Depth
Default
Value
Accessi PDOAllo
Unit
bility
cation
1
-
RW
No
Change
Property
Servo Off
ALL
Store
Yes
0x250D
Variable
Format
UINT
Setting Range
0 to 1
On-line Gain Tuning Mode
Default
Value
0
Accessi PDOAllo
Unit
bility
cation
-
RW
No
Change
Property
Servo Off
ALL
Store
Yes
Sets on-line gain tuning mode.
Set Value
0
1
Setting Details
Do not use online gain tuning
Use online gain tuning
0x250E
Variable
Format
UINT
Setting Range
1 to 20
System Rigidity for Gain Tuning
Default
Value
5
Accessi PDOAllo
Unit
bility
cation
-
RW
No
Change
Property
Servo Off
ALL
Store
Yes
Sets the system rigidity to apply for gaintuning. This setting increases or decreases the overall gain
after gain tuning. If the gain of the maximum set value is not sufficient, please use manual tuning.
Automatically changed gains after gain tuning are as follows.
Inertia ratio (0x2100), positionloop gain 1(0x2001), speedloop gain 1(0x2102), speedintegraltime
constant 1(0x2103), torquecommandfiltertime constant 1(0x2104), notchfilter 3 frequency(0x2507,
TBD), notchfilter 4 frequency(0x250A, TBD)
13-62
