Estun ETS-101010APC-CAN - Page 118

ETS Series AC Servo User's Manual
- 117 -
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
Pn005
Hex
Pn005.0:Torque feedforward mode
Pn005.1:Control mode
[0] Speed control(parameter reference)
[1] Position control(pulse train)
[2] Speedcontrol(contactreference)
[3]Speed control(contact reference)←→
position control(pulse train)
[4] Position control(pulse train)←→
position control(inhibit)
[5] Position control (contact reference)
[6] Reserved
Pn005.2:Out-of-tolerance alarm selection
Pn005.3:Servomotor model
—
0~0x3361
0x0000
After restart
Pn006
Hex
Pn006.0:Bus mode
Pn006.1:Reserved
Pn006.2: Low-frequency vibration
suppression switch
Pn006.3:Reference input filter for open
collector signal
—
0~0x2203
0x0000
After restart
Pn007
Binary
Pn007.0： Wider the width of C pulse or
not
Pn007.1：Reserved
Pn007.2：Reserved
Pn007.3：Torque filter
—
0~0x1111
0x0000
After restart
Pn009
Binary
Pn009.0：Reserved
Pn009.1：Reserved
Pn009.2：Electronic gear selection
Pn009.3：Reserved
—
0~0100
0x0000
After restart
Pn100
Online autotuning setting
0:Manual gain adjustment
1,2,3=Normal mode;4,5,6=Vertical load
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
—
0~6
0
After restart
Pn101
Machine rigidity setting
—
0~15
5
Immediately
Pn102
Speed loop gain
Hz
1~4000
320
Immediately
Pn103
Speed loop integral time constant
0.25ms
1~4096
40
Immediately
Pn104
Position loop gain
Hz
0~1000
40
Immediately
Pn105
Torque reference filter time constant
0.025ms
0~2500
40
Immediately
Pn106
Load inertia percentage
—
0~20000
0
Immediately