EMSD5 AC Servo Manual
Chapter 7 Parameters
57
No.
Name
Function
Rang
Default
13:Display absolute position of the rotor in a roll
is 5-bit low.
14:Display absolute position of the rotor in a roll
is 5-bit high.
15:Display input terminal state.
16:Display output terminal state.
17:Display encoder input signal.
18:Display voltage value of main line of main
circuit.
19:Display alarming code.
20:Display logic chip version number.
21:Display the actuation state of the relay.
22:Display external voltage state.
23:Display external voltage state.
24:Absolute position 5-bit low.
25: Absolute position 5-bit high.
PA-4
Control mode
selection
To set control method:
0: Position control mode
1: Speed control mode
2: Torque control mode
3: Po speed control mode
4: Po torque control mode
5: Speed + torque control mode
6: Encoder zeroing mode
0-6
0
PA-5
Proportional
gain of speed
loop
1.Set the proportional gain of speed loop.
2.The value is bigger, the gain is higher and
rigidity is stronger. The parameter value is set
according to your exact servo driving system
model and the load. Generally, the greater the
load inertia, the bigger the value.
3.Please set a little high value if the system
condition does not generate oscillation.
5-2000Hz
150
PA-6
Speed integral
constant
1.To set the integral time constant of the speed loop
regulator.
2.The value is smaller, the integral speed is faster
and the servo rigidity is stronger. But if it is too
small, it will happen over controlling.
1-1000ms
75
PA-7 Torque filter
1.To set the characters of torque command filter.
2.To suppress resonance generated by torque.
3.The value is smaller, the cut-off frequency is
lower and vibration with noise generated by the
motor is less. If the load inertia is great, reducing
the setting value is recommended. If the value is
20-500%
100
