XtraDrive User Manual Appendix D: List of Parameters
D-2
D.1. Parameters
The following list shows parameters and their settings.
Category
Parameter
Number
Name
Unit
Setting
Range
Default
Setting
Reference
Pn000*
Function Selection Basic
Switches
— — 0x00D0
5.1.1,
5.3.5
Pn001*
Function Selection
Application
Switches 1**
— — 0000
5.1.2,
5.4.2,
5.5.7
Pn002*
Function Selection
Application
Switches
— — 0000
5.2.8,
5.2.9,
5.7.2
Pn003
Function Selection
Application
Switches 3
— — 0002 6.4
Pn006
Function Selection
Application
Switches 3
— — 0000 6.4
Function Selection Parameters
Pn007
Function Selection
Application
Switches 3
— — 0000 6.4
Pn100 Speed Loop Gain Hz 1 to 2000 40
Pn101
Speed Loop Integral Time
Constant
0.01ms
15 to
51200
2000
6.2.2,
6.2.7,
6.2.10
Pn102 Position Loop Gain s
-1
1 to 2000 40 6.2.10
Pn103 Inertia Ratio % 0 to 10000 300
6.2.6,
6.3.1,
6.3.5
Pn109
Feed-Forward (Speed
control)
% 0 to 100 0 6.2.2
Gain Parameters
Pn110*
Online Autotuning Switches — — 0010 6.3.4
* After changing this parameter, cycle the main circuit and control power supplies to enable the new
settings.
** The multi-turn limit is valid only when parameter Pn002.2 Absolute Encoder Usage is set to "2". The value will
be processed in the range of "+32767 to -32768" for other settings even if the value is changed. There is no need to
change the multi-turn limit except for in special cases. Be careful not to change the setting unless necessary.
Category
Parameter
Number
Name
Unit
Setting
Range
Default
Setting
Reference
Pn190*
Motor selection switch -- -- 0000 5.8
Pn191*
Motor selection switch -- -- 0000 5.8
Pn192*
Pulses number of A quad B
encoder (Low)
Pulses/rev 0-9999 2048 5.8
Pn193*
Pulses number of A quad B
encoder (High)
Pulse*100
00/Rev
0-419 0 5.8
Motor parameters
Pn199*
Encoder counts per Scale
Pitch of linear motor
Counts/Sc
ale Pitch
1-256 1
Pn1A0 Global gain factor (Tightness) % 0-500 60 6.3.3
Pn1A2 Speed feedback filter 0.01ms 30-3200 40 6.3.5
Pn1A4 Torque filter (low pass) 0.01ms 0-2500 20 6.3.5
Pn1A5 Torque filter (second order) 0.1% 0-1000 0 6.3.5
Pn1A7 Integral mode switch -- -- 1121 6.3.8
Pn1A9 Integral feedback gain Hz 0-500 40 6.3.5
Pn1AA Proportional feedback gain Hz 0-500 40 6.3.3
Gain parameters
Pn1AB
Supplementary proportional
feedback gain
Hz 0-500 30 6.3.3
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