Technical Manual for EA350 Analog Pulse Type Servo Driver V101 7.2.10 Group P4 - Gain tuning parameters 91 Para Data Initial Applicable Communication Function Parameter scope Unit Attribute meter type value mode 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 0.00~10.00 U16 5.00 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 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 Bit 0:
Acceleration feedback function bit1: Reserved bit2: Reserved bit3: Reserved Bit 4: Speed observer function Bit 5: Low noise mode U16 00000B - 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