Reservation; Internal Torque Command 1; Higher Gain Results In Greater Mechanical Stiffness And Less Position Tracking - BONMET SDL10A User Manual

The second position loop differential proportional
Parameter
Pn-67
Range
Control mode：Position control mode
Details： Details： This parameter is used to set the second position loop differential proportional gain, customers can switch it from the
first speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause overshoot or oscillation.
Note：This parameter is usually set to zero unless customers need very fast response.
The second cut-off frequency of position feed
Parameter
Pn-68
Range
Control mode：Position control mode
Details：This parameter is used to set the second cut-off frequency of position feed forward filter, the unit is Hz.
Customers can switch it from the first speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching
function.The filter is used to increase the stability of compound position control.
Parameter Enhancement of torque loop response function
Pn-69
Range
Control mode：All
Details：This parameter is used to enable the enhancement of torque loop response function. As set the parameter value to 1, the
torque loop response will be enhanced, but it may cause little current noise.
Parameter
Pn-70
Range
Control mode：Reservation
Details：Reservation.
Parameter
Pn-71
Range
Control mode：Reservation
Details：Reservation.
Parameter
Pn-72
Range
Control mode：Demo mode
Details：Internal torque command 1, the parameter value indicates the percentage of the nominal torque, the unit is %.
Parameter
Pn-73
Range
Control mode：Demo mode
Details：Internal torque command 2, the parameter value indicates the percentage of the nominal torque, the unit is %.
Parameter
Pn-74
Range
gain（PID2）
0~100 Default
forward filter（PID2）
1~1000 Default
0~1 Default

Reservation

－
Default
Reservation
－
Default

Internal torque command 1

-400~400 Default
Internal torque command 2
-400~400 Default
Internal torque command 3
-400~400 Default
BONMET motion GmbH/www.bonmet.com/www.bonmet.de
Modbus address
0 CANbus object
Modbus address
500 CANbus object
Modbus address
0 CANbus object
Modbus address
－
CANbus object
Modbus address
－
CANbus object
Modbus address
10 CANbus object
Modbus address
-10 CANbus object
Modbus address
20 CANbus object
0x1282 Unit
0x2282.0 Attrib
0x1283 Unit
0x2283.0 Attrib
0x1284 Unit
0x2284.0
Attrib
0x1285 Unit
0x2285.0 Attrib
0x1286 Unit
0x2286.0 Attrib
0x1287 Unit
0x2287.0 Attrib
0x1288 Unit
0x2288.0 Attrib
0x1289 Unit
0x2289.0
Attrib
－
R/W
Hz
R/W
－
R/W
－
R/W
－
R/W
%
R/W
%
R/W
%
R/W
56