49
Parameters
Function
Initial
value
Unit
Applicable
control
mode
Pro
pert
y
Commu
nication
address
P
S
T
setting
231FH
6.2.5 P4 group- Multi-torque control parameters
Parameters
Function
Initial
value
Unit
Applicable
control
mode
Pro
pert
y
Commu
nication
Address
P
S
T
P4-00
Internal digital torque given
100. 0
%
√
○
0400H*
2400H
P4-01
Speed limit of torque control
100
rpm
√
○
2401H
P4-02
Torque speed limit command
source:
0: P4-01 given
1: Analog 1 given
2: Analog 2 given
3: Not used
0
-
√
○
2402H
P4-03
Torque speed limit command gain 1000
√
○
2403H
P4-05
Torque command compensation
0
%
√
○
2405H
6.2.6 P5 group- Gain tuning parameters
Parameters
Function
Initial
value
Unit
Applicable
control
mode
Pro
pert
y
Commu
nication
Address
P
S
T
P5-00
Position regulator proportional
gain KPP
30. 0
rad/s
√
○
2500H
P5-01
Position gain fluctuation ratio
50
%
√
○
2501H
P5-02
Front position regulator
feedforward gain
0. 0
%
√
○
2502H
P5-03
Position feedforward smoothing
time
5
ms
√
☆
2503H
P5-04
Speed regulator proportional gain
KVP
350. 0
rad/s
√
√
○
2504H
P5-05
Speed regulator integration time
constant
10. 0
ms
√
√
○
2505H
P5-06
Speed gain fluctuation rate
50
%
√
√
○
2506H
P5-07
Gain adjustment mode selection
0: Manual mode
1: Semi-automatic mode
(non-continuous adjustment)
2: Automatic mode (continuous
adjustment)
0
-
√
√
○
2507H
P5-08
Load inertia ratio total inertia /
motor inertia
0. 01
-
√
√
○
2508H
P5-09
Offline load inertia torque
autotuning
50
%
√
√
○
2509H
P5-11
Speed bandwidth
60
Hz
√
√
○
250BH
P5-12
PDFF Control coefficient
100
%
√
√
○
250CH
P5-13
Gain switching condition
0
-
√
√
○
250DH
P5-14
Gain switching time
5
ms
√
√
○
250EH
P5-15
Gain delay time
5
ms
√
√
○
250FH
P5-16
Gain switching threshold
100 rpm, ppr
√
√
○
2510H
P5-17
Control loop coefficient
4
-
√
√
○
2511H
P5-19
Low frequency rigidity coefficient 1. 0
-
√
√
○
2512H
P5-20
External disturbance resistance
gain
0
%
√
√
○
2513H
6.2.7 P6 group- Digital input (DI) / output (DO) parameters
Paramete
rs
Function
Initial
value
Unit
Applicable
control
mode
Pro
pert
y
Commu
nication
Address
P
S
T
P6-00
DI filter time
2
ms
√
√
√
○
2600H
P6-01
DI level logic
00000000
-
√
√
√
○
2601H
P6-02
DI1 function code
1
-
√
√
√
○
2602H
