- 140 -
Function Code Parameter Name Setting Range Default Unit Property
F2-10
Current loop KI2 (excitation) 10–1000
30 - ★
They are parameters of the excitation axis current regulator.
These parameter are obtained by means of motor auto-tuning. You need not modify them.
They take effect only in field weakening, and have little effect on improvement of motor
running.
Function Code Parameter Name Setting Range Default Unit Property
F2-11
No-load-cell startup
0: Invalid
1: Valid
0 - ★
It sets whether to perform automatic pre-torque compensation when there is no load cell.
Function Code Parameter Name Setting Range Default Unit Property
F2-12
Position lock speed KP 1–100
35 - ☆
F2-13
Position lock speed KI 0.01–10.00
0.8 - ☆
These parameters are speed loop parameters when the no-load-startup function is used.
Decrease the values of these parameters in the case of car lurch at startup, and increase
the values in the case of rollback at startup.
Function
Code
Parameter Name Setting Range Default Unit Property
F2-14 Position lock current loop KP1 (torque) 10–1000 60 - ☆
F2-15 Position lock current loop KI1 (torque) 10-1000 30 - ☆
They are regulation parameters for the torque axis in the case of no-load-cell.
The most appropriate values of these parameters matching the motor characteristics are
obtained by means of motor auto-tuning. You need not modify them generally.
Function
Code
Parameter Name
Setting
Range
Default Unit Property
F2-16
Position lock current loop KP2 (excitation) 10–1000
60 - ☆
F2-17
Position lock current loop KI2 (excitation) 10-1000
30 - ☆
They are regulation parameters for the excitation axis current loop in the case of no-load-
cell.
These parameter are obtained by means of motor auto-tuning. You need not modify them.
Function Code Parameter Name Setting Range Default Unit Property
F2-18
Torque acceleration time 0–500
1 ms ★
F2-19
Torque deceleration time 0–500
350 ms ★
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