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CANON Digital Galvano Scanner System
KP-1SM Series + GC-251
Users Manual 1.00
68
Parameter ID 7
Parameter
Name
Torque Constant
Data Torque constant (Unit: gf cm / A)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation 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.
Related
Command
/Parameter
LQ control related parameters
LQ Control Gain (Parameter ID = 6)
Total Inertia (Parameter ID = 8)
Parameter ID 8
Parameter
Name
Total Inertia
Data Total inertia (Unit: 0.01 gf cm
2
)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation 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.
Related
Command
/Parameter
LQ control related parameters:
LQ Control Gain (Parameter ID = 6)
Torque Constant (Parameter ID = 8)
Parameter ID 9
Parameter
Name
Current Limit
Data Current limit (Unit: %)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation 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.
Related
Command
/Parameter
Bit 5 “Current Saturation” becomes 1 in error read (Command ID = 15).