62
Chapter 5
Parameters
5.1
Parameter list
The Data Type of parameters used in this manual is INT16, and the range of INT16 is
shown in the following table.
Name Describe Range
INT16 Signed 16bit -32768 ~ 32767
5.1.1
Parameters of section 0
Para
meter
Name Range
Default
value
Unit
P000 Password 0～9999 315
P001 Driver code * *
P002 Motor code 0～8 *
P003 Software version * *
P004 Control mode 0~5 0
P005 First speed loop gain 1～3000 40 Hz
P006 First speed loop integral time constant 1.0～1000.0 20.0 ms
P007 First torque filtering time constant 0.10～50.00 1.00 ms
P009 First position loop gain 1～1000 40 1/s
P010 Second speed loop gain 1~3000 40 Hz
P011 Second speed loop integral time constant 1.0~1000.0 10.0 ms
P012 Second torque filtering time constant 0.10~50.00 1.00 ms
P013 Second position loop gain 1~1000 80 1/s
P017 Load inertia ratio 0.0～200.0 1.0 times
P018 Speed loop PDFF control coefficient 0～100 100 %
P019 Speed detection filter time constant 0.01～50.00 2.00 ms
P021 Position loop feed forward gain 0～100 0 %
P022
Position loop feedforward filter time
constant
0.20～50.00 1.00 ms
P025 Speed command source 0~5 0
P040
Position instruction exponential smoothing
filtering time
0~1000 0 ms
P041
Linear smoothing filtering time for
position instruction
0~256 0 ms
P060 Speed command acceleration time 0～30000 0 ms
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