Chapter 5 Parameters
68
velocity response bandwidth.
P006
First speed loop integral time
constant
Range
Default
value
Unit Usage
1.0～1000.0 20.0 ms P,S
The integral time constant of the speed regulator reduces the parameter value, which can
reduce the speed control error and increase the rigidity. Too small is easy to cause
vibration and noise.
Set to the maximum value (1000.0) to cancel the integration, and the speed regulator is
the P controller.
P007 First torque filtering time constant
Range
Default
value
Unit Usage
0.10～50.00 1.00 ms ALL
Low pass filter with torque, can suppress mechanical vibration.
The higher the value is, the better the vibration suppression effect will be, and too large
the response will be slow and may cause oscillation. The smaller the value is, the faster
the response is, but it is limited by mechanical conditions.
When the load inertia is small, a smaller value can be set; when the load inertia is large, a
larger value can be set.
P009 First position loop gain
Range
Default
value
Unit Usage
1～1000 40 1/s P
Proportional gain of position regulator; Increasing the parameter value can reduce the
position tracking error and improve the response. Excessive parameter value may lead to
overshoot or oscillation.
P010 Second speed loop gain
Range
Default
value
Unit Usage
1～3000 40 Hz P,S
Refer to parameter P005 to enable the gain switch function before setting.
P011
Second speed loop integral time
constant
Range
Default
value
Unit Usage
1.0～1000.0 10.0 ms P,S
Refer to parameter P006 to enable the gain switch function before setting it.
P012 Second torque filtering time constant
Range
Default
value
Unit Usage
0.10～50.00 1.00 ms ALL
Refer to parameter P007 to enable the gain switch function before setting it.
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