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Register 4:
This register is for Velocity Proportional gain (P gain parameter). Its default value is FF20 (-224). User
can change this value as per requirement. Refer below method to change Velocity proportional gain of motor. Eg.
Hex value FF4C (-180) send to register 4 to set velocity proportional gain of motor to 180 as in below image.
Register 6:
This register is for Velocity Integral gain (I gain parameter). Its default value is FF10 (-240). User can
change this value as per requirement. Refer below method to change Velocity Integral gain of motor. Eg.Hex value
FF42 (-190) send to register 6 to set velocity Integral gain of motor to 190 as in below image.
Register 8:
This register is for Velocity Feed Forward gain. Its default value is FF20 (-240). User can change this
value as per requirement. Refer below method to change Velocity Feed Forward gain of motor. eg Hex value FF38 (-
200) send to register 8 to set velocity feed forward gain of motor to 200 as in below image .
