32
03
Reserved
04
The gain of second speed loop
1Hz
250
1
～
5000
√
05
Integral time of second speed
loop
0.1ms
10000
1
～
50000
√
06
The gain of second position loop
1/s
250
1
～
2000
√
07
Reserved
08
Reserved
09
The gain of position loop
feedforward
1%
0
0
～
100
√
10
Feedforward filter time
0.01ms
0
0~65535
√
3. P2: position control
（
0200
～
02FF
）
P2-
Function
Unit
Default
Range
Effective
00
Command pulse state
0
：
Pulse train
1
：
AB phase pulse
（
90
°
phase, 4-time
mode
）
2
：
Pulse+ direction
-
2
0,1,2
●
01
Position command filter selection
0
：
First order inertia filtering
1
：
smoothing filtering
-
0
0,1
●
02
Electronic gear ratio (molecular)
-
1
1
～
65535
√
03
Electronic gear ratio (denominator)
-
1
1
～
65535
√
04
Position command filter time
1ms
0
0
～
100
●
05
Reserved
06
Command pulse frequency at rated speed
100Hz
5000
1
～
10000
○
07
Speed command pulse filter time
0.1ms
20
0
～
1000
√
08
Reserved
09
Reserved
10
Internal position mode setting
-
n.0000
●
