Shenzhen Just Motion Control electromechanics co., ltd

0755-26509689

P01-02

Real-time

automatic

adjustment mode

controlling the logic state of the port.

terminal logic

control mode

effective

location mode

invalid

velocity mode

5: Position and torque control mode. To switch using one of the external

input ports in CN1, set the selected DI portinput port function selection

to 5 (control mode switching). The control mode can be switched by

controlling the logic state of the port.

terminal logic

control mode

effective

location mode

invalid

torque mode

Setting range: 0-4

0: Manually adjust the rigidity.

1: Standard mode automatically adjusts rigidity. In this mode, parameters

P02-00, P02-01, P02-10, P02-11, P02-13, P02-14 and P08-20 will be

automatically set according to the rigidity level set in P01-03, and manual

adjustment of these parameters will not work. The following parameters

are set by the user:

P02-03 (speed feedforward gain), P02-04 (speed feedforward smoothing

constant).

2: Positioning mode automatically adjusts rigidity. In this mode,

parameters P02-00, P02-01, P02 - 10, P02-11, P02-13, P02-14 and P08-20

will be automatically set according to the rigidity level set in P01-03, and

manual adjustment of these parameters will not work. The following

parameters will be fixed and cannot be changed:

P02-03 (speed feedforward gain): 30.0%

P02-04 (speed feedforward smoothing constant): 0.50

3: Automatically adjust rigidity 2. In this mode, parameters P02-00,

P02-01, P02-10, P02-11, P02-13 will be automatically set according to the

rigidity level set in P01-03.

The following parameters are set by the user: P02-03 (speed feedforward

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