Parker PD-04 Series - Page 204

Parker Hannifin
P series User Guide 202
gain group 1
Gain group 2
Position loop gain1(0x2101)
Speed loop gain1(0x2102)
Speed loop integral time constant
1(x2103)
Torque command filter time
constant 1(0x2104)
Position loop gain2(0x2105)
Speed loop gain2(0x2106)
Speed loop integral time constant
2(x2107)
Torque command filter time
constant2(0x2108)
Set Value
Setting Details
0
Use only gain group 1
1
Use only gain group 2
2
Gain conversion based on GAIN2 input status
- 0:use gain group 1
- 1: use gain group 2
3
Reserved
4
Reserved
5
Reserved
6
Gain conversion based on ZSPD output status
- 0:use gain group 1
- 1: use gain group 2
7
Gain conversion based on INPOS1output status
- 0:use gain group 1
- 1: use gain group 2
0x211A
Gain Conversion Time 1
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 1000
2
ms
RW
Yes
At all
times
Yes
Set the time for conversion from gain group 1 to gain group 2.
0x211B
Gain Conversion Time 2
ALL
Variabl
e
Format
Setting Range
Default
Value
Unit
Acces
sibility
PDO
Allocati
on
Change
Property
Stor
e
UINT
0 to 1000
2
ms
RW
Yes
At all
times
Yes
Set the time for conversion from gain group2 to gain group1.