Canon galvano gc-251 ユーザーズマニュアル

 

 

Users Manual 1.00 
 
 

68

 

7 

Torque Constant 

Torque constant (Unit: gf・cm / A) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

This parameter is used to set the torque constant of the motor. 

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 
    LQ Control Gain (Parameter ID = 6) 
    Total Inertia (Parameter ID = 8) 

8 

Total Inertia 

Total inertia (Unit: 0.01 gf・cm

2

) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

This parameter is used to set the inertia due to the motor rotation shaft and the mirror. 

Note: Be careful about the unit. Set a value of gf・cm

2

 multiplied by 100. 

LQ control related parameters: 
    LQ Control Gain (Parameter ID = 6) 
    Torque Constant (Parameter ID = 8) 

 

9 

Current Limit 

Current limit (Unit: %) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

This parameter is used to set the upper limit of a current command value. (Setting for 
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).