76
d1.17
60410010
Status word
Status word of controller
/
/
R
d1.18
60610008
Operation_Mode_Buff Operation mode in buffer
0
/
R
d1.19
60630020
Pos_Actual
Actual position of motor
0
-2^31-
2^31-1
R
d1.20
60FB0820
Pos_Error
Following error of position
0
-2^31-
2^31-1
R
d1.21
25080420
Gear_Master
Input pulse amount before electronic
gear
0
-2^31-
2^31-1
R
d1.22
25080520
Gear_Slave
Execute pulse amount after electronic
gear
0
-2^31-
2^31-1
R
d1.25
2FF01410
Real_Speed_RPM
Real speed, unit: rpm
0
0-5000
R
d1.26
60F91910
Real_Speed_RPM2
Real speed, unit: 0.01rpm
0
-10-10
R
d1.28
60F60C10
CMD_q_Buff
q current command buffer
0
-2048-
2047
R
d1.29
2FF01800
I_q_Arms
Real current in q axis, unit 0.1Arms
0
/
R
d1.48
26800010
Warning_Word
warning status word of the encoder:
Bit 0: Battery Warning
Bit 1: Mixed Warning
Bit 2: Encoder Busy
0
0-7
R
d1.49
30440008
Cur_IndexofTable
Range: 0-31, current index in the
position table
0
0-31
R
9.2 F002
This panel menu contains parameters for the control loop settings.
Controller->Panel Menu->Control Loop Setting(F002)
Table 9-2: Panel F002
Panel
address
Internal
address
Name
Description
Default
Range
RWS
d2.00
2FF00108
Store_Data
Save or init parameters
1: save control parameters
10: init control parameters
0
0-255
RW
d2.01
2FF00A10
Velocity_BW
Bandwidth of the velocity loop,
unit: Hz.
/
1-700
RWS
d2.02
2FF01910
Kvi_Mix
Integral gain of the velocity loop, as a
combination of 32*Kvi(60F9.02) +
Kvi/32(60F9.07). When written, it sets
Kvi(60F9.02)=0 and the value goes to
Kvi/32(60F9.07).
/
0- 65535
RWS
d2.03
60F90308
Notch_N
Notch filter frequency
BW=Notch_N*10+100[Hz]
45
0-127
RWS
d2.04
60F90408
Notch_On
Notch filter enable
0
0-1
RWS
d2.05
60F90508
Speed_Fb_N
Bandwidth of velocity feedback filter 25
0-45
RWS
