LSIS XDL-L7SA002X

6. Communication Protocol
6-14
6.3.3 Control Parameter Communication Address
Table
The following table lists Modbus communication addresses for the control parameter group
[P1-xx].
Communicatio
n Address
Parameter Name
Parameter
Number
Material Type
(Decimal
Number)
Control Parameter Parameter
140 Inertia ratio P1 - 00 UINT16
142 Position proportional gain 1 P1 - 01 UINT16
144 Position proportional gain 2 P1 - 02 UINT16
146
Position command filter time
constant
P1 - 03 UINT16
148 Position feedforward gain P1 - 04 UINT16
150
Position feedforward filter time
constant
P1 - 05 UINT16
152 Speed proportional gain 1 P1 - 06 UINT16
154 Speed proportional gain 2 P1 - 07 UINT16
156 Speed integral time constant 1 P1 - 08 UINT16
158 Speed integral time constant 2 P1 - 09 UINT16
160
Speed command filter time
constant
P1 - 10 UINT16
162
Speed feedback filter time
constant
P1 - 11 UINT16
164
Torque command filter time
constant
P1 - 12 UINT16
166 Forward rotation torque limit P1 - 13 UINT16
168 Reverse rotation torque limit P1 - 14 UINT16
170 Gain transfer mode P1 - 15 UINT16
172 Gain transfer time P1 - 16 UINT16
174 Resonance avoidance operation P1 - 17 UINT16
176 Resonance avoidance frequency P1 - 18 UINT16
178 Resonance avoidance range P1 - 19 UINT16
180 Auto gain tuning speed P1 - 20 UINT16
182 Auto gain tuning distance P1 - 21 UINT16
184 Torque control speed limiting mode P1 - 22 UINT16
186 Speed limit P1 - 23 UINT16
188 Control P transfer torque P1 - 24 UINT16
190 Control P transfer speed P1 - 25 UINT16
192 Control P transfer acceleration P1 - 26 UINT16
194 Control P transfer position error P1 - 27 UINT16