Appendix

P07 group: gain parameter

ES2 Series Servo User Manual Lite V1.0

Function

code

Name

Setting range

P07 00 Position loop gain 1 1～2000.0

P07 01 Speed loop gain 1 1～2000

P07

02

Speed loop integral

time 1

15～51200

P07

03

Speed

filter 1

detection 0～200

P07

04

Torque command

filtering 1

126~65535

P07 05 Position loop gain 2 1～2000.0

P07 06 Speed loop gain 2 1～2000

P07

07

Speed loop integral

time 2

15～51200

P07

08

Speed

filter 2

detection 0～200

P07

09

Torque command

filtering 2

126~65535

0-speed loop

regulator P (1) / PI

DI function GAIN- (0) switch, gain is

P07 10 SWITCH switching fixed to first group

action selection

1-first gain (0),

second gain (1)

switching

Min. Default

unit setting

0.1HZ 320

0.1HZ 180

0.01m

s

3100

0.01m

s

60

0.01m

s

126

0.1HZ 380

0.1HZ 180

0.01m

s

51200

0.01m

s

0

0.01m

s

126

1

0

Effective

time

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Effective

immediate

ly

Type

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Set

when

runnin

g

Mode

P

PS

PS

PST

PST

P

PS

PS

PST

PST

Effective

immediate

ly

Set

when

runnin

g

PS

50