7.2.9 Group P3 - Torque control parameters 7.2.10 Group P4 - Gain tuning parameters 78 Technical Manual for EA190 Series Servo Driver V100 Parameter Function Parameter scope Data type Initial value Unit Applicable mode Attribute Communication address P3-00 Selection of torque setting command source 0: Torque P3-01 setting, symmetrical between the forward and reverse directions 1: Torque P3-01 setting, with the reverse direction limited by P3-02 2: Reserved 3: Reserved 4: Reserved 5: Reserved 6: Reserved 7: Reserved 8: Reserved 9:
Reserved U16 0 - T 〇 0300H P3-01 Digital torque setting -500.0~500.0 I16 100.0 % T 〇 0301H P3-02 Reverse torque limit 0.0~500.0 U16 300.0 % T 〇 0302H P3-03 Reserved P3-04 Selection of speed limit command source for torque command direction 0: Digital speed setting (P3-05 setting) 1: Reserved 2:
Reserved U16 0 - T 〇 0304H P3-05 Speed limit in the torque command direction upon torque control 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 Reached torque 3.0~500.0 U16 100.0 % P S T 〇 0307H P3-08 Torque command increase slope 0.0~500.0 U16 500.0 %/ms T 〇 0308H P3-09 Torque command decrease slope 0.0~500.0 U16 500.0 %/ms T 〇 0309H Parameter Function Parameter scope Data type Initial value Unit Applicable mode Attribut e Communication address P4-00 Selection of gain adjustment mode 0: Manual 1: Semi-automatic adjustment mode (rigidity table) 2: Automatic adjustment mode 1 (slow inertia change) 3:
Automatic adjustment mode 2 (relatively fast inertia change) 4:
Automatic adjustment mode 3 (fast inertia change) 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 _ Speed ring differential time constant ASR Td 0.0~3000.0 U16 0.0 ms P S 〇 0404H 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 filtering time constant 0~100 U16 5 ms P 〇 0407H P4-08 Speed feedback filtering time constant 0.00~20.00 U16 0.00 ms P S 〇 0408H P4-09 Factory parameters 0~10000 U16 0 - P S T 〇 0409H