Chapter 5 Parameters
P004 Control mode
z The meanings of this parameter are:
0：Position control mode
1：Speed control mode
Range
0～1
Default
Unit Usage
value
0
ALL
P005 Gain of speed loop
Range
Default
value
Unit Usage
1～3000
40
Hz P,S
z This is the proportion gain of the speed regulator. Increases the parameter value, can make the speed
response to speed up. It is easy to cause the vibration and the noise when the value is too large.
z If the P017 (load inertia ratio) is a correct value then the parameter value is equal to the speed response
bandwidth.
P006 Integral time constant of speed loop
Range
Default
value
Unit Usage
1.0～1000.0
20.0
ms P,S
z This is the integral time constant of the speed regulator. Reduces the parameter value, can reduce the speed
control error, and increase rigidity. It is easy to cause the vibration and the noise when the value is too small.
z If using the maximum value (1000) indicates the integral function to be canceled. The speed regulator
becomes the P controller.
P007 Filter time constant of torque
Range
Default
value
Unit Usage
0.10～50.00
2.50
ms ALL
z This is the low pass filter of torque and can suppress the vibration of the machinery.
z The bigger the value, the better effect of suppression achieves. The response will slow down. It is easy to
cause oscillation if the value is too large. The smaller the value, the quicker response achieves, but can be
limited by mechanical condition.
z When the load inertia is small, can set a small value; the load inertia is big, can set a big value.
P009 Gain of position loop
Range
Default
value
Unit Usage
1～1000
40
1/s
P
z This is the proportional gain of the position regulator. Increases the parameter value, can reduce the position
tracking error, and enhance the response. It is easy to cause overshoot or oscillation when the value is too
large.
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