28
param
eter
code
parameter Name & functions
Set range
unit
Default
value
Effective
bit7
INH control signal
signal
valid
signal
invalid
bit8
Z pulse signal logic negation
invalid
operation
valid
operation
bit9
Zero speed clamp at speed control
mode
Speed
clamp
Position
clamp
PA019
Function selection parameter
0~65535
0
Place
Definition
Status setting
0
1
bit0
Torque analog Input selection
Input valid
Input
invalid
bit1
Speed analog Input selection
Input valid
Input
invalid
bit2
Electronic gear ratio switch signal
Input valid
Input
invalid
PA029
Input trigger mode selection
bit0
：
CLE signal Input selection
0
：
electrical level trigger mode
1
：
edge trigger mode
0~65535
0
6.1.3 Gain & filter parameters
param
eter
code
parameter Name & functions
Set range
unit
Default
value
Effective
PA011
Position loop gain
It decides the responsiveness characteristics of position
control system. Positioning time can be shorted, if
larger position loop gain value is set. However,
vibration may be caused, if the set value is too large, so
please pay attention to this problem in modification.
100
～
9000
2000
PA012
Speed feedforward gain
In the speed control instruction calculated based on
internal position instruction, add the value got by
multiplying this parameter ratio into the speed
instruction from position control processing
0
～
100
%
0
PA013
Speed feedforward filter
Set the time constant of first-order lag filter required
for speed feed-forward input.
0
～
8150
0.1ms
6000
PA014
Speed loop gain
It decides the responsiveness characteristics of speed
loop. In order to increase position ring gain and
improve servo system’s total responsiveness, the speed
400
～
8000
1000
