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5.4 Parameter description in detail
P004
z
Control mode
Range
Default
value
0～5
0
Unit
Usage
ALL
The meanings of this parameter are:
0：Position control mode
1：Speed control mode
2：Torque control mode
3：Position/Speed control mode
4：Position/Torque control mode
5：Speed/Torque control mode
z
When the parameter is 3 , 4 or 5.The concrete control mode depends on the CMODE of DI inputs:
P004
CMODE[Note]
Control mode
3
0
Position control
1
Speed control
0
Position control
1
Torque control
0
Speed control
1
Torque control
4
5
Note: 0 indicates OFF; 1 indicates ON.
P005
z
First gain of speed loop
Range
Default
value
Unit
Usage
1～3000
40
Hz
P,S
This is the proportion gain of the speed regulator. Increases the parameter value, can make the speed
response to speed up. It is easy to cause the vibration and the noise when the value is too large.
z
If the P017 (load inertia ratio) is a correct value then the parameter value is equal to the speed response
bandwidth.
P006
z
First integral time constant of speed
loop
Range
Default
value
Unit
Usage
1.0～1000.0
20.0
ms
P,S
This is the integral time constant of the speed regulator. Reduces the parameter value, can reduce the speed
control error, and increase rigidity. It is easy to cause the vibration and the noise when the value is too small.
z
If using the maximum value (1000.0) indicates the integral function to be canceled. The speed regulator
becomes the P controller.
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