Canon GC-251 用户手册

 

 

Users Manual 1.00 
 
 

67

3 

In-position Width 

In-position width (Unit: pulse) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

The end of movement is judged when a difference from the target value (number of 
pulses) enters this range. 

Note: The relationship between the number of pulses and the angle depends on the motor.

Bit 2 “Settlement in In-position Width” becomes 1 in status read (Command ID = 14). 

4 

Settling Check Time 

Settling check time (Unit: 10 μs) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

The completion of movement is judged if the position remains within the In-position 
Width (Parameter ID = 3) for the set time after movement. 

Note: The unit is 10 us. For 1 ms, set 100. 

Bit 8 “Moving” becomes 0 in status read (Command ID = 14). 

 

5 

In-position Overtime 

In-position overtime (Unit: sec) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

If the position remains beyond the number of pulses set by “Parameter ID = 3: 
In-position Width” from the target position for a time longer than this setting, an alarm is 
issued and the servo is turned OFF. 
When this parameter is set to 0, judgment is disabled. 

Bit 2 “Moving” becomes 0 in error read (Command ID = 15). 

 

6 

LQ Control Gain 

LQ control gain (Unit: none) 

0: Parameter setting successful 
1: Parameter setting unsuccessful 

This parameter is used to set the LQ control gain. 

LQ control related parameters: 
    Total Inertia (Parameter ID = 8) 
    Torque Constant (Parameter ID = 7)