Applied Motion ST10-C-CE - Manual (Page 43)

43 920-0025 Rev K
3/5/2015
CANopen User Manual
0x5005 AccFeedForward_Tuning
This object adds a feed forward acceleration/deceleration to the torque command to speed
the system’s response. This object is only available on step-servo driver.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no no 0
0x5006 PIDFilter_Tuning
This object provide a torque command over-all filter at the end of Velocity loop. The filter
is a very simple single-pole low pass filter that is used to limit the high frequency response of
the Velocity and therefore the Position control loops. This object is only available on step-servo
driver.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no no 0
0x5007~0x500E NotchFilterx_Tuning 3
These eight objects shall configure the NotchFilter parameters in torque mode. This object
is only available on step-servo driver.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER16 rw no no 0
*Note3: x should be from A to H
0x500F PositionError
This object shall indicate the configured range of tolerated position values symmetrically
to the position demand value. If the position actual value is out of the following error window, a
following error (Position Limit) occurs.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no no 0
This object is the same functionally as the standard object 0x6065.
0x5010 Velocity_MAX
This object shall configure the max velocity can be allowed in the driver. This value have
no effect in Profile Position Mode.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no no 0