Kingservo KSDG Series, Manual

Page: 47 / 117

Kingservo 47
Parameter No.
(Pr □□ )
Function
Pre-set
value
Range Unit
Applicable
Mode
★
★ ★
★
00 (Used by Manufacturer)
★
★ ★
★
01 LED initial display state 0
0~12 -
All
★
★ ★
★
02 Control mode setting 0
0~5 -
All
03 Invalid analog torque limit input 1
0~1 -
P
，
S
★
★ ★
★
04 Invalid drive inhibition input 1
0~2 -
All
05 Ixternal/external shift of speed setting 0
0~3 -
S
06 Invalid zero speed clamp 0 0~2
-
S ， T
07 Speed monitor option 3 0~9 - All
08 Torque monitor option 0 0~7 - All
09 Output option during torque limit 0 0~4 - All
0A Output option of zero speed detection 1 0~4 - All
★ ★ ★ ★
0C Setting of RS232C communicaiton baud 3 0~3 - All
●
Modification of parameter No. marked with
★ ★ ★ ★
will be effective only after control power is reset.
Parameter No.
(Pr □□ )
Function
Pre-set
value
Range Unit
Applicable
Mode
10 First position loop gain 47 1
~
2000 1/S P
11 First speed loop gain 36 1
~
3500 Hz All
12 Time constant of first speed loop integral 28 0
~
1000 0.01ms All
13 First speed detection filter 0 0
~
5 - All
14 Time constant of first torque filter 65
25
~
2500
0.01ms All
15 Speed feed-forward 300 0
~
1500 0.1% P
16 Time constant of speed feed-forward filter 50
0
~
6400
0.01ms P
18 Second position loop gain 54
1
~
2000
1/S P
19 Second speed loop gain 36
1
~
3500
Hz All
1A Time constant of second speed loop integral 130
0
~
1000
ms All
1B Second speed detection filter 0 0
~
5 - All
1C Time constant of second torque filter 65
25
~
2500
0.01ms All
1D Notch filter frequency 1600 50
~
1600 Hz All
1E Notch filter width 4 0
~
4 - All
20 Inertia ratio 0 0
~
10000 - All
27 External noise detection 0 0
~
8 - All
28 External noise detection filter 0 0
~
6400 0.01ms All
2A CCW torque control offset 0 -127
~
127 5mV All
2B CW torque control offset 0. -127
~
127 5mV P
，
S