Estun ETS Series - Page 119

ETS Series AC Servo User's Manual
- 118 -
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
Pn107
2nd speed loop gain
Hz
1~4000
320
Immediately
Pn108
2nd speed loop integral time constant
0.25ms
1~4096
40
Immediately
Pn109
2nd position loop gain
Hz
0~1000
40
Immediately
Pn110
2nd torque reference filter time constant
0.025ms
0~2500
40
Immediately
Pn111
Speed bias
rpm
0~300
0
Immediately
Pn112
Feedforward
%
0~100
0
Immediately
Pn113
Feedforward filter
0.25ms
0~640
0
Immediately
Pn114
Torque feedforward
%
0~100
0
Immediately
Pn115
Torque feedforward filter
0.25ms
0~640
0
Immediately
Pn116
P/PI switching condition
0:Torque reference percentage
1:Value of offset counter
2:Value of acceleration speed setting
3:Value of speed setting
4:Fixed PI
—
0~4
0
After restart
Pn117
Torque switching threshold
%
0~300
200
Immediately
Pn118
Offset counter switching threshold
reference
pulse
0~10000
0
Immediately
Pn119
Setting acceleration speed switching
threshold
10rpm/s
0~3000
0
Immediately
Pn120
Setting speed switching threshold
rpm
0~10000
0
Immediately
Pn121
Gain switching condition
0:Fix to 1st group gain
1:External switch gain switching
2:Torque percentage
3:Value of offset counter
4:Value of acceleration speed setting
5:Value of speed setting
6:Speed reference input
7: actual motor speed
—
0~7
0
After start
Pn122
Switching delay time
0.25ms
0~20000
0
Immediately
Pn123
Threshold switching level
—
0~20000
0
Immediately
Pn124
Reserved
—
—
—
—
Pn125
Position gain switching time
0.25ms
0~20000
0
Immediately
Pn126
Hysteresis switching
—
0~20000
0
Immediately
Pn127
Low speed detection filter
025ms
0~100
10
Immediately
Pn128
Speed gain acceleration relationship
during online autotuning
—
0~3
3
Immediately
Pn129
Low speed correction coefficient
—
0~30000
0
Immediately
Pn130
Friction load
0.1%
0~3000
0
Immediately
Pn131
Friction compensation speed hysteresis
area
rpm
0~100
0
Immediately
Pn132
Sticking friction load
0.1%/1000rp
0~1000
0
Immediately