Technical Manual for EA350 Analog Pulse Type Servo Driver V101 92 P4-25 Torque feedforward filtering time constant 0.00~10.00 U16 5.00 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% / 1000rp m 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 T 〇 0423H P4-36 Cutoff rotating speed for static friction torque compensation 0~200 U16 0 rpm S T 〇 0424H