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9.23
[Friction estimate status (Obj. 2C31h)]
[Friction estimate status (Obj. 2C31h: 00h)]
Data Type
Access
U16
RO
Supported firmware version
ECT
A5
Description
The progress of friction estimation is returned.
9.24
[Backlash estimation value (Obj. 2C32h)]
[Backlash estimation value (Obj. 2C32h: 00h)]
Data Type
Access
U32
RO
Supported firmware version
ECT
A5
Description
The result of backlash estimation is returned. When the backlash estimated gear ratio numerator or the backlash estimated
gear ratio denominator is set to "0", the backlash estimation amount is returned as the rotation angle on the servo motor side.
When the backlash estimated gear ratio is set to a value other than "0", the backlash estimated amount is returned as a value
that takes into account the backlash estimated gear ratio.
9.25
[Static friction based fault prediction upper
threshold (Obj. 2C33h)]
[Static friction based fault prediction upper threshold (Obj.
2C33h: 00h)]
Data Type
Access
I32
RO
Supported firmware version
ECT
A5
Description
The upper limit threshold used for static friction failure prediction is displayed in increments of 0.1 % in relation to the rated
torque as 100 %.
Mapping
Default
Impossible
Mapping
Default
Impossible
Mapping
Default
Impossible
Range
Units
0 to 100
%
Range
Units
0 to 3600000
0.01 degree
Range
Units
-2147483648 to
0.1 %
2147483647
9 Manufacturer Specific Control Object
9.23 [Friction estimate status (Obj. 2C31h)]
Save
Parameter
Impossible
Save
Parameter
Impossible
Save
Parameter
Impossible
111
9
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