Appendix

ES2 Series Servo User Manual Lite V1.0

Function

code

P07 19

Name

Speed feedforward

control selection

Setting range

0-no speed

feedforward

1-internal speed

feedforward

2-use AI1 as speed

feedforward input

3-use AI2 as speed

feedforward input

4-given through

communication

Min.

unit

1

Default

setting

1

P07

20

Speed feedforward

gain

0.0%～100.0%

0.1% 0.0%

P07

21

Speed feedforward

filter time parameter

0.00ms～64.00ms

0.01m

s

0.50ms

0-no

torque

feedforward

1-internal torque

feedforward

P07

22

Torque feedforward

selection

2-use AI1 as speed

feedforward input

1

1

3-use AI2 as speed

feedforward input

4-given

through

communication

P07

23

Torque feedforward

gain

0.0%～100.0%

0.1% 0.0%

P07

24

Torque feedforward

filter time parameter

0.00ms～64.00ms

Speed

offset

P07 25 superimposed

0P～100P

threshold

0.01m

s

0.50ms

1P

7P

P07 26 Speed offset

0.0%～100.0%

0.1% 0.0%

P07

27

Voltage

feedforward gain

0.000~1.000

0.001 0.000

P07 28 Id set

0~65535

0.001 0.000

Effective

time

Type

Mode

Effective

immediate

ly

Settin

g after

motor

stop

P

Effective

immediate

ly

Set

when

runnin

g

P

Effective

immediate

ly

Set

when

runnin

g

P

Effective

immediate

ly

Settin

g after

motor

stop

PS

Effective

immediate

ly

Set

when

runnin

g

PS

Effective

immediate

ly

Set

when

runnin

g

PS

Effective

immediate

ly

Settin

g after

motor

stop

P

Effective

immediate

ly

Set

when

runnin

g

P

Effective

immediate

ly

Set

when

runnin

g

PST

Effective

immediate

ly

Set

when

runnin

g

PST

P09 group: failure and protection

Function

code

P09 00

Name

Setting range

Power input lack

phase protection

option

0-Enable fault, disable

warning

1-Enable faults and

warnings

2- Prohibited faults and

warnings

Min. Default

unit setting

1

2

Effective

time

Effective

immediate

ly

Type

Set

when

runnin

g

Mode

PST

52