79 Technical Manual for EA190 Series Servo Driver V100 Paramet er Function Parameter scope Data type Initia l value Unit Applica ble mode Attrib ute Communicatio n address P4-10 The 1st load inertia ratio (total inertia/motor rotor inertia) 1.00~120.00 U16 2.50 - P S T 〇 040AH P4-11 The 2nd load inertia ratio (total inertia/motor rotor inertia) 1.00~120.00 U16 1.00 - P S T 〇 040BH P4-12 PDFF control coefficient 0~100 U16 100 % P S T 〇 040CH P4-13 Rigidity adjustment coefficient 0.5~1.0 U16 0.5 - P S T 〇 040DH P4-14 Control loop coefficient 10~100 U16 75 - P S T 〇 040EH P4-15 Gain switching condition 00H~18H U16 00H - P S T 〇 040FH P4-16 Gain switching time 0~3000 U16 5 ms P S T 〇 0410H P4-17 Reserved P4-18 Gain switching threshold 0~32767 U16 100 rpm P S T 〇 0412H P4-19 Change coefficient of the 2nd position loop gain 10~500 U16 50 % P S T 〇 0413H P4-20 Change coefficient of the 2nd speed loop gain 10~500 U16 50 % P S T 〇 0414H P4-21 Reserved P4-22 Suppression performance expansion Bit0:
Acceleration feedback function Bit1: Reserved Bit2: Reserved Bit3: Reserved Bit4: Speed observer function Bit5:
Low noise mode U16 00000 B - P S T 〇 0416H P4-23 Speed observer cutoff frequency grade 0~13 U16 13 P S T 〇 0417H P4-24 Torque feedforward gain 0.0~200.0 U16 0.0 % P S T 〇 0418H P4-25 Torque feedforward filtering time constant 0~100 U16 5 ms P S T 〇 0419H P4-26 Speed loop differential output limit 0.0~10.0 U16 0.0 % P S 〇 041AH P4-27 Reserved P4-28 External disturbance resistance gain 0.0~100.0 U16 0.0 % P S T 〇 041CH P4-29 Torque command low-pass smoothing constant 0.00~100.00 U16 0.84 ms P S T 〇 041DH P4-30 Friction compensation smoothing time constant 10~1000 U16 50 ms P S 〇 041EH P4-31 Viscous friction compensation gain 0~1000 U16 0.0 0.1%/ 1000r pm P S 〇 041FH P4-32 Addition to torque command -100.0~100.0 I16 0.0 % P S 〇 0420H P4-33 Torque compensation in the forward direction -100.0~100.0 I16 0.0 % P S 〇 0421H P4-34 Reverse torque compensation -100.0~100.0 I16 0.0 % P S 〇 0422H P4-35 Static friction torque compensation value 0.0~100.0 U16 0.0 % S 〇 0423H P4-36 Cutoff rotating speed for static friction torque compensation 0~200 U16 0 rpm S 〇 0424H