Veichi SD700-1R1A series, Установка и подключение, Страница: 18 / 55

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Pn081
485 communication baud rate selection 0~4 1
－
0x0081
Power
failure
effective
0-9600bps 1-19200bps 2-38400bps 3-57600bps 4-115200bps
Pn082
485 communication check mode 0~5 1 － 0x0082
Power
failure
effective
0- no check (N, 8,1) 1- even parity check (E, 8,1) 2- odd parity check (O, 8,1) 3- no check (N, 8,2) 4- even parity
check (E, 8,2) 5-odd parity check
（ O,8,2 ）
Pn083
Baud rate selection for Canopen
communication
0~6 4 － 0x0083
Power
failure
effective
0: 20kbps 1: 50kbps 2: 100kbps 3: 125kbps 4: 250kbps 5: 500kbps 6: 1000kbps
Pn085
Communication data storage EEPROM 0x0~0xFFF 0x1 - 0x0085
Power
failure
effective
Bit0: 0: stores data to Eeprom 1: and does not store data to Eeprom
Bit1: 0: is powered on, the value of Pn085 is coercion Bit0 is 1 1:. When the power on is activated, the value of Pn085 is
not forced to Bit0 1.
3.2 Group Pn1 gain class
Function
code
Parameter name Range
Default
value
Company
Postal
address
Effective
way
Pn100
Rotary inertia ratio 0~20000 100 % 0x0100
Immediat
e effect
Rotary inertia ratio = motor shaft conversion load inertia / servo motor rotor inertia *100%
Pn101
First speed gain 1~2000 40.0 Hz 0x0101
Immediat
e effect
Parameters that determine speed loop responsiveness. Because the response of the speed loop is low, it will become the
delay element of the outer position loop. Therefore, overshoot or speed instruction will be vibrated. The larger the setting
value is, the more stable the servo system and the better response will be.
Pn102
First velocity integral time constant 0.15~512 20.00 ms 0x0102
Immediat
e effect
In order to respond to the tiny input, the speed loop contains integral elements. Because the integral element is a delay
factor for the servo system, when the time parameter is set too large, the overshoot will occur, or the positioning time will
be prolonged, which will make the response worse.
Pn103
First position gain 1~2000 40.0 1/s 0x0103
Immediat
e effect
The response of the position loop is determined by the gain of the position loop. The higher the setting of the position
loop gain is, the higher the responsiveness and the shorter positioning time will be. The gain of the position loop can not
be raised beyond the rigidity of the mechanical system.
Pn104 First torque command filter 0~655.35 1.00 ms 0x0104
Immediat
e effect