P1: control parameters
P1-
Name
Unit
Default
Range
Effective Suitable
mode
Chapter
00
The gain of first speed loop
Hz
100
1~9999
√
3,4,6,7,1
0
6-1-1
01
First speed loop integral time
0.1ms
400
0~10000
√
3,4,6,7,1
0
6-1-1
02
The gain of first position loop
1/s
100
1~9999
√
6, 10
6-1-1
03
First speed feedback response
level
Hz
1000
0~4000
√
All the
modes
6-1-1
04
First torque command filter time
0.01ms
0
0~9999
√
All the
modes
6-1-1
05
Second speed loop gain
Hz
100
1~9999
√
3,4,6,7,1
0
6-1-1
06
Second speed loop integral time
0.1ms
400
0~10000
√
3,4,6,7,1
0
6-1-1
07
Second position loop gain
1/s
100
1~9999
√
6, 10
6-1-1
08
Second speed feedback response
level
Hz
1000
0~4000
√
All the
modes
6-1-1
09
Second torque command filter
time
0.01ms
0
0~9999
√
All the
modes
6-1-2
10
Speed Feedforward gain
1%
0
0~300
√
6, 10
6-1-2
11
Speed feedforward filter time
0.01ms
50
0~10000
√
6, 10
6-1-2
12
Torque feedforward
1%
0
0~300
√
3,4,6,7,1
0
6-1-2
13
Torqaue feedforward filter time
0.01ms
0
0~10000
√
3,4,6,7,1
0
6-1-2
14
Position gain switching mode
0: fixed the first group
1: fixed the second group
2: G-SEL signal
3: torque command
4: speed command
5: position offset
6: speed feedback
-
0
0~6
√
6, 10
6-2
16
Position
gain
switching
comparison value
Related
to the
P1-14
mode
50
-9999~999
9
√
6, 10
6-2
17
Position
gain
switching
comparison value hysteresis loop
Related
to the
P1-14
mode
20
0~9999
√
6, 10
6-2
18
Speed gain switching mode
0: fixed the first group
1: fixed the second group
2: G-SEL signal
3: torque command
4: speed command
5: position offset
6: speed feedback
-
0
0~6
√
3, 4, 7
6-2
20
Speed
gain
switching
comparison value
Related
to the
P1-18
mode
50
-9999~999
9
√
3, 4, 7
6-2
21
Speed
gain
switching
comparison value hysteresis loop
Related
to the
0
0~9999
√
3, 4, 7
6-2