77
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
When P4-02=0
时，
set the maximum motor speed allowed by torque control
P4-02
Torque speed limit command source
Initail value
Unit
Communication
Address
0
-
2402H
Control Mode
：
T
Range
：
0
～
3
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
Select the source, which limit the size of torque mode of operation (P1-00 = 2) speed .
P4-02=0
：
P4-01given
P4-02=1
：
Analog1given
P4-02=2
：
Analog2given
P4-02=3
：
Retention
P4-03
Torque speed limited instruction gain
Initail value
Unit
Communication
Address
Motor rated
speed
rpm
2403H
Control Mode
：
T
Range
：
0
～
motor rated speed
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
When P4-02 is set to limit the motor running speed under torque running mode by analog, setting speed corresponding to
10V analog. At this point, if external analog is 10V, the maximum motor speed will be limited in set of this function parameters.
To limit speed by the value o
f
P4-01
Set the gainP4-03 of
analog
P4-02
0
1
2
To limit speed by the external AT1 given
To limit speed by the external AT2 given
NOTE
：
On torque mode, when P1-48 (torque limit source selection) is set to 2/3/4, that
external analog and P1-46, P1-47 are limiting the size of torque meanwhile, while P4-02
(Torque speed limit instruction source) is set to 1/2, which limited the speed of the motor by
external analog and select the same analog source (such as both AI1), then the analog limit both
speed and torque.
P4-05
Torque command compensation
Initail value
Unit
Communication
Address
0.0
%
2405H
Control Mode
：
T
Range
：
0.0
～
10.0
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
Superimposing a compensation amount based on the original torque command , the reference is the motor rated torque.
7.6 P5-xx Gain tuning parameters
P5-00
Position regulator proportional gain (KP)
Initail
value
Unit
Communication
Address
30.0
rad/s
2500H
Control Mode
：
P S T
Range
：
1.0
～
2000.0
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
Setting position proportional regulator gain KPP
This parameter determines the responsiveness of the position loop, the larger KPP value is set the higher position loop frequency responses, the
better to follow the instruction of position, position error amount is smaller, the positioning setting time is shorter. However, too large setting
may cause the system to generate vibration or positioning will overshoot (Overshoot) Under normal circumstances:
The outer ring
The inner ring
Position loop bandwidth
<
Speed loop bandwidth
<
Current loop bandwidth
When the inner ring much faster than the outer ring, the inner ring can be seen straight, at this time the position loop can be modeled as the
