EA180 Series Servo Drive Users Manual 7.2.9 P4 group - gain tuning parameters 82 Appli Attr Com Para Data Initial Function Parameter range Unit cable ibut mu. meter type value mode e Addr. command source 2:
Limit speed by AI2 P3-05 Torque command direction speed limit value in torque control mode 0～10000 U16 100 rpm T 〇 0305H P3-06 Torque consistency threshold 3.0～100.0 U16 5.0 % T 〇 0306H P3-07 Arrival torque 3.0～500.0 U16 100.0 % PST 〇 0307H P3-08 Torque acceleration slope Torque acceleration slope is the percentage of torque increase per ms U16 500.0 % T 〇 0308H P3-09 Torque deceleration slope Torque deceleration slope is the percentage of torque decrease per ms U16 500.0 % T 〇 0309H Dat Appli Attr Com Para Function Parameter range a Initial value Unit cable ibut mu. meter type mode e Addr. P4-00 Gain adjustment mode selection 0: Manual 1: Semi-auto adjustment mode 1 (rigidity table) 2:
Auto adjustment mode 1 (inertia changes slowly) 3: Auto adjustment mode 2 (inertia changes a bit fast) 4:
Auto adjustment mode 3 (inertia changes fast) U16 1 - P S T 〇 0400H P4-01 Rigidity 1～31 U16 13 - P S T 〇 0401H P4-02 Position loop proportional gain APR P 1.0～2000.0 U16 48.0 1/s P 〇 0402H P4-03 _ Speed loop proportional gain ASR P 0.1～5000.0 U16 27.0 Hz P S 〇 0403H P4-04 _ Reserved P4-05 Speed loop integral time constant ASR Ti 0.1～3000.0 U16 21.0 ms P S 〇 0405H P4-06 _ Speed feedforward gain APR Kp 0.0～300.0 U16 30.0 % P 〇 0406H P4-07 _ Speed feedforward filter time constant 0～100 U16 5 ms P 〇 0407H P4-08 Speed feedback filter time constant 0.00～20.00 U16 0.00 ms P S 〇 0408H P4-09 Factory parameter 0～10000 U16 0 - P S T 〇 0409H P4-10 First load inertia ratio (total inertia/motor rotor inertia) 1.00～120.00 U16 2.50 - P S T 〇 040A H P4-11 Second load inertia ratio (total inertia/motor rotor inertia) 1.00～120.00 U16 1.00 - P S T 〇 040B H P4-12 PDFF control coefficient 0～100 U16 100 % P S T 〇 040C H P4-13 Rigidity adjustment coefficient 0.5～1.0 U16 0.5 - P S T 〇 040D H P4-14 Control loop coefficient 10～100 U16 75 - P S T 〇 040EH P4-15 Gain switching conditions 00H～18H U16 00H - P S T 〇 040FH P4-16 Gain switching change time 0～3000 U16 5 ms P S T 〇 0410H