12. Communication Protocol
8459
8460
8461
8462
8463
8464
8465
8466
8467
8468
8469
8470
8471
8472
8473
8474
8475
8476
8477
8478
8479
8480
15-20
Filter Time Constant
Speed Feedback Filter
0x210B
0x210B
UINT
2
0
1000 0.1ms
RW
Time Constant
0x210C
Speed Feed-forward Gain
0x210C
UINT
0
0
100
%
RW
Speed Feed-forward Filter
0x210D
0x210D
UINT
10
0
1000 0.1ms
RW
Time Constant
0x210E
Torque Feed-forward Gain
0x210E
UINT
0
0
100
%
RW
Torque Feed-forward Filter
0x210F
0x210F
UINT
10
0
1000 0.1ms
RW
Time Constant
Torque Limit Function
0x2110
0x2110
UINT
2
0
4
-
RW
Select
External Positive Torque
0x2111
0x2111
UINT
3000
0
5000
0.1%
RW
Limit Value
External Negative Torque
0x2112
0x2112
UINT
3000
0
5000
0.1%
RW
Limit Value
0x2113
Emergency Stop Torque
0x2113
UINT
1000
0
5000
0.1%
RW
P/PI Control Conversion
0x2114
0x2114
UINT
0
0
4
-
RW
Mode
0x2115
P Control Switch Torque
0x2115
UINT
500
0
5000
0.1%
RW
0x2116
P Control Switch Speed
0x2116
UINT
100
0
6000
rpm
RW
0x2117
P Control Switch
0x2117
UINT
1000
0
60000 rpm/s
RW
Acceleration
P Control Switch Following
0x2118
0x2118
UINT
100
0
60000 pulse
RW
Error
0x2119
Gain Conversion Mode
0x2119
UINT
0
0
7
-
RW
0x211A
Gain Conversion Time 1
0x211A
UINT
2
0
1000
ms
RW
0x211B
Gain Conversion Time 2
0x211B
UINT
2
0
1000
ms
RW
Gain Conversion Waiting
0x211C
0x211C
UINT
0
0
1000
ms
RW
Time 1
Gain Conversion Waiting
0x211D
0x211D
UINT
0
0
1000
ms
RW
Time 2
Dead Band for Position
0x211E
0x211E
UINT
0
0
1000
UU
RW
Control
0xFFF
0x211F
Drive Control Input 1
0x211F
UINT
0
0
-
RW
F
0xFFF
0x2120
Drive Control Input 2
0x2120
UINT
0
0
-
RW
F
