Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-12
No.
Index
Name
Range
Unit
Default
When Enabled
Pn124
31E0
Speed Threshold for Gain
Switch
0 to 2000
rpm
0
Immediately
This parameter is available only when using position reference and actual speed as the condition
(Pn121=8).
Pn125
31E1
Ramp Time for Position Loop
Gain Switch
0 to 20000
0.1 ms
0
Immediately
Ramp time for gain switching, it is only available to position loop gain.
Pn126
31E2
Hysteresis for Gain Switch
0 to 20000
－
0
Immediately
Hysteresis of gain switching conditions. It is used to prevent gain switching frequently.
Pn127
31E3
Low Speed Filter
0 to 100
1 cycle
0
Immediately
This parameter determines the performance of the filter for low speed measurement. The filter will filter
out the noise in low speed, but the measured speed has significant delay if this value is large.
Pn130
31E6
Coulomb Friction
Compensation
0 to 3000
0.1%Tn
0
Immediately
This parameter is used to compensate coulomb friction. The value is the permillage of coulomb friction and
Motor rated torque.
Pn131
31E7
Speed Dead Band for Coulomb
Friction Compensation
0 to 100
rpm
0
Immediately
To set a dead band to disable coulomb friction compensation. It is used to prevent vibration at zero speed.
Pn132
31E8
Viscous Friction
Compensation
0 to 1000
0.1%Tn/
1000rpm
0
Immediately
－
Pn135
31EB
Encoder Speed Filter Time
0 to 30000
0.01ms
4
Immediately
To set a proper time for smoothing the changes in the feedback speed to reduce vibration. This parameter is
available when the instantaneous speed is not used as the speed feedback (Pn162=0).
