Canon GALVANO GC-251 User Manual page 68

Parameter ID
Torque constant (Unit: gf・cm / A)
Data
0: Parameter setting successful
Return Value
1: Parameter setting unsuccessful
This parameter is used to set the torque constant of the motor.
Explanation
Note: Do not change this parameter. A unique value is available depending on the
motor model. This is set at shipping.
LQ control related parameters
Related
Command
/Parameter
Parameter ID
Total inertia (Unit: 0.01 gf・cm
Data
0: Parameter setting successful
Return Value
1: Parameter setting unsuccessful
This parameter is used to set the inertia due to the motor rotation shaft and the mirror.
Explanation
Note: Be careful about the unit. Set a value of gf・cm
LQ control related parameters:
Related
Command
/Parameter
Parameter ID
Current limit (Unit: %)
Data
0: Parameter setting successful
Return Value
1: Parameter setting unsuccessful
This parameter is used to set the upper limit of a current command value. (Setting for
Explanation
each axis as a ratio to 10A)
E.g.: 90% (10A × 0.9 = 9A)
If the current remains over the upper limit for a specified time, a current saturation error
occurs.
Bit 5 "Current Saturation" becomes 1 in error read (Command ID = 15).
Related
Command
/Parameter
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
7
LQ Control Gain (Parameter ID = 6)
Total Inertia (Parameter ID = 8)
8
LQ Control Gain (Parameter ID = 6)
Torque Constant (Parameter ID = 8)
9
Parameter
Torque Constant
Name
Parameter
Total Inertia
Name
2
)
Parameter
Current Limit
Name
2
multiplied by 100.
68