TRUE,TRUE,FALSE,FALSE,FALSE,TRUE,FALSE,FALSE,FALSE,FALSE,FALSE,FALSE
Address,Description,Max Value,Min Value,Default Value,Value,Access,Precision,Refresh Type,Is Refreshed,Description Detail,DATATYPE
INT32,STRING,FLOAT,FLOAT,FLOAT,STRING,STRING,FLOAT,STRING,STRING,STRING,INT32
701,Current Loop Proportional Gain ,32767,0,150,0,RW,1,RefreshOneTime,FALSE,Current Loop Proportional Gain ,1
702,Current loop integral gain ,32767,0,15,0,RW,1,RefreshOneTime,FALSE,Current loop integral gain ,1
703,Speed loop proportional gain ,32767,0,800,0,RW,1,RefreshOneTime,FALSE,Speed loop proportional gain ,1
704,Speed loop integral gain ,32767,0,10,0,RW,1,RefreshOneTime,FALSE,Speed loop integral gain ,1
740,Speed loop differential gain ,32767,0,10,0,RW,1,RefreshOneTime,FALSE,Speed loop differential gain ,1
741,Percent torque feedforward ,100,0,0,0,RW,10,RefreshOneTime,FALSE,Percent torque feedforward ,1
782,Speed loop integral clipping percentage ,100,0,0,0,RW,10,RefreshOneTime,FALSE,Reverse Torque Feedforward Percentage ,1
783,position error filtering ,100,0,0,0,RW,10,RefreshOneTime,FALSE,position error filtering ,1
742,Speed Loop Proportional Gain Percentage ,100,0,0,0,RW,10,RefreshOneTime,FALSE,Speed Loop Proportional Gain Percentage ,1
705,Position loop proportional gain ,32767,0,200,0,RW,1,RefreshOneTime,FALSE,Position loop proportional gain ,1
779,Position loop integral gain ,32767,0,200,0,RW,1,RefreshOneTime,FALSE,Position loop integral gain ,1
780,Position loop lead compensation gain ,32767,0,200,0,RW,1,RefreshOneTime,FALSE,Position loop lead compensation gain ,1
706,Position Ring Maximum Output Speed Percent ,300,0,100,0,RW,10,RefreshOneTime,FALSE,Position Ring Maximum Output Speed Percent ,1
708,Torque feedforward filter time constant 0.01us ,63,0,0,0,RW,1,RefreshOneTime,FALSE,Torque feedforward filter time constant ,1
709,Speed feedforward filtering time constant ms ,1000,0,0,0,RW,1,RefreshOneTime,FALSE,Speed feedforward filter time constant ,1
710,torque feedforward coefficient ,32767,0,0,0,RW,1,RefreshOneTime,FALSE,torque feedforward coefficient ,1
711,velocity feedforward coefficient ,300,0,100,0,RW,10,RefreshOneTime,FALSE,Speed feedforward coefficient 0-300% ,1
712,Torque Filter Type ,4,0,0,0,RW,1,RefreshOneTime,FALSE,:0-low-pass filter;1-trap filter; 2-no filtering;3-cascade of low-pass and notch; 4-Automatically calculate filter parameters ,1
713,Torque low-pass filter time constant ms ,327.67,0,0.5,0,RW,100,RefreshOneTime,FALSE,Torque setting filter ms ,1
714,Trap 1 Frequency ,4000,0,200,0,RW,1,RefreshOneTime,FALSE,trap center frequency ,1
715,Trap 1 Depth ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Smaller. more notch 0-100.0 ,1
716,Trap 1 Width ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Notch width. percentage relative to center frequency ,1
717,Trap 2 Frequency ,4000,0,200,0,RW,1,RefreshOneTime,FALSE,trap center frequency ,1
718,Trap 2 Depth ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Smaller. more notch 0-100.0 ,1
719,Trap 2 Width ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Notch width. percentage relative to center frequency ,1
720,gain adjustment mode ,5,0,0,0,RW,1,RefreshOneTime,FALSE,:0-Fix the first set of gain;1-Switch the first set of gain and the second set of gain according to the switching condition; 2-Set gain according to rigidity level and load inertia. normal mode; 3-Set gain and positioning mode according to rigidity level and load inertia; 4 & #x2014; the first set of gains is fixed and the unit of the proportional gain is the bandwidth multiplied by 6.28; 5-No adjustment. controlled according to parameter P07.78 ,1
721,Proportional gain of the second set of speed loop ,32767,0,800,0,RW,1,RefreshOneTime,FALSE,Proportional gain of the second set of speed loop ,1
722,Integral gain of the second set of speed loop ,32767,0,10,0,RW,1,RefreshOneTime,FALSE,Integral gain of the second set of speed loop ,1
723,Proportional gain of the second set of position loop ,32767,0,200,0,RW,1,RefreshOneTime,FALSE,Proportional gain of the second set of position loop ,1
724,gain switching condition ,6,0,0,0,RW,1,RefreshOneTime,FALSE,:0-The second set of gain is used when IO switching is effective; 1-switch to the second set of gain when the torque command is large; 2-Switch to the second set of gain when the speed instruction is large; 3-switch to the second set of gain when the acceleration command is large; 4-switch to the second set of gain when the speed error is large; 5. switching to the second set of gain when the filtered position error is large; 6-Switch to the second set of gains when positioning is completed ,1
725,gain switching level ,32767,0,0,0,RW,1,RefreshOneTime,FALSE,gain switching level ,1
726,gain switching delay ,32767,0,0,0,RW,1,RefreshOneTime,FALSE,gain switching delay ,1
727,gain switching time ,32767,0,10,0,RW,1,RefreshOneTime,FALSE,gain switching time ,1
728,Rigidity grade 0~31 ,31,0,1,0,RW,1,RefreshOneTime,FALSE,Rigidity grade 0~31 ,1
729,load inertia ratio ,32767,0,1,0,RW,10,RefreshOneTime,FALSE,load inertia ratio ,1
730,Zero Velocity Gain Attenuation/Amplification % ,3276.7,0,50,0,RW,10,RefreshOneTime,FALSE,Zero Velocity Gain Attenuation/Amplification % ,1
731,Zero Speed Position Gain Attenuation/Amplification % ,3276.7,0,100,0,RW,10,RefreshOneTime,FALSE,Zero Speed Position Gain Attenuation/Amplification % ,1
732,zero-velocity attenuation threshold ,32767,0,10,0,RW,1,RefreshOneTime,FALSE,Zero speed decay threshold below which decay/amplification is performed per P07.30. P07.31 ,1
733,Acceleration and deceleration time during inertia learning ,32767,0,500,0,RW,1,RefreshOneTime,FALSE,Acceleration and deceleration time during inertia learning ,1
734,Zero Speed Current Gain Attenuation/Amplification % ,3276.7,0,100,0,RW,10,RefreshOneTime,FALSE,Zero Speed Current Gain Attenuation/Amplification % ,1
735,Inertia Learning Options ,3,0,1,0,RW,1,RefreshOneTime,FALSE,:0-Speed and position loop gain is not automatically matched after inertia learning is completed; 1-Match a set of gains to stiffness level P07.28 after inertia learning is complete ,1
738,Percent of Vibration Detection Threshold ,32767,0,1,0,RW,10,RefreshOneTime,FALSE,Self-tuning Vibration Detection Threshold Percentage ,1
739,Vibration detection value ,32767,0,1,0,R,1,RefreshOneTime,FALSE,Vibration detection value ,1
744,Trap 3 Frequency ,4000,0,200,0,RW,1,RefreshOneTime,FALSE,trap center frequency ,1
745,Trap 3 Depth ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Smaller. more notch 0-100.0 ,1
746,Trap 3 Width ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Notch width. percentage relative to center frequency ,1
747,Trap 4 Frequency ,4000,0,200,0,RW,1,RefreshOneTime,FALSE,trap center frequency ,1
748,Trap 4 Depth ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Smaller. more notch 0-100.0 ,1
749,the notch 4 width ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Notch width. percentage relative to center frequency ,1
750,Torque Compensation Mode (Effective Immediately) ,2,0,100,0,RW,1,RefreshOneTime,FALSE,:0-compensate a fixed value P07.53; 1-Automatic compensation (pay attention to stability. adjust P07.43 P07.54 P07.51 P07.52); 2-automatic compensation (focus on response. adjust P07.43 P07.54); 3-Reserved;4-Reserved ,1
743,Torque compensation gain 1 (effective immediately) ,1000,10,100,0,RW,1,RefreshOneTime,FALSE,Torque compensation gain 1(re-enable effective) Default 100 ,1
751,Torque Compensation Frequency Compensation (Effective Immediately) ,1000,-1000,0,0,RW,10,RefreshOneTime,FALSE,the larger the frequency. the smaller the filtering ,1
752,Torque Compensation Inertia Compensation (Effective Immediately) ,1000,1,100,0,RW,1,RefreshOneTime,FALSE,Torque compensation Inertia compensation (re-enable to take effect) ,1
753,Torque compensation fixed value (effective immediately) ,32767,-32767,0,0,RW,10,RefreshOneTime,FALSE,Torque compensation fixed value (re-enable to take effect) ,1
754,Torque Compensation Percentage (Effective Immediately) ,100,0,0,0,RW,1,RefreshOneTime,FALSE,Torque compensation percentage (re-enable to take effect) ,1
755,LFR trap frequency ,1000,0,200,0,RW,1,RefreshOneTime,FALSE,LFR trap frequency ,1
756,Low frequency rejection trap depth ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Smaller. more notch 0-100.0 ,1
757,Low frequency rejection trap width ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Notch width. percentage relative to center frequency ,1
758,Position command trap frequency ,1000,0,200,0,RW,1,RefreshOneTime,FALSE,LFR trap frequency ,1
759,Position command trap depth ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Smaller. more notch 0-100.0 ,1
760,Position command trap width ,100,0,100,0,RW,10,RefreshOneTime,FALSE,Notch width. percentage relative to center frequency ,1
761,Advanced Control Function Selection ,9999,0,100,0,RW,10,RefreshOneTime,FALSE,AAA.B format. Normal feedforward control when AAA=0; Single inertia model prediction when AAA=1; Double inertia model prediction when AAA=2; When AAA=3. single inertia model prediction (no model prediction position filtering). when AAA=4. double inertia model prediction (no model prediction position filtering). when B=0. the continuous vibration suppression function is disabled. and when B=1. the continuous vibration suppression function is enabled. ,1
762,Model Predicted Gain 1.0 - 2000.0 ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Predicted Gain 1.0-2000.0 re-enable effective ,1
763,Model prediction compensation 50.0 - 200.0 ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model prediction compensation 50.0-200.0 re-enable in effect ,1
764,Model Predicted Forward Gain ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Predictive Forward Gain Reenable Effective ,1
765,model predictive inverse gain ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Predictive Inverse Gain Re-Enable Effective ,1
766,Model predicted inhibition frequency 1 1.0 - 250.0 ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Predicted Rejection Frequency 1 1.0-250.0 Reenable Valid ,1
767,Model predicted inhibition frequency 2 1.0 - 250.0 ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Predicted Rejection Frequency 2 1.0-250.0 Reenable Valid ,1
768,model prediction feed-forward velocity ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Prediction Feedforward Speed Re-Enable Valid ,1
769,Model Predicted 2 Gain ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model prediction 2 gain reenable takes effect ,1
770,Model prediction 2 compensation ,3000,0,100,0,RW,10,RefreshOneTime,FALSE,Model Prediction 2 Compensation Re-Enable in Effect ,1
771,continuous vibration suppression frequency ,2000,1,100,0,RW,10,RefreshOneTime,FALSE,continuous vibration suppression frequency ,1
772,inertia compensation for continuous vibration suppression ,1000,1,100,0,RW,1,RefreshOneTime,FALSE,inertia compensation for continuous vibration suppression ,1
773,Continuous Vibration Rejection Speed Feedback Compensation Percentage ,300,0,0,0,RW,1,RefreshOneTime,FALSE,Continuous Vibration Rejection Speed Feedback Compensation Percentage ,1
774,Continuous Vibration Suppression and Time Constant Compensation of Low-Pass Filter ,10,-10,0,0,RW,100,RefreshOneTime,FALSE,Continuous Vibration Suppression and Time Constant Compensation of Low-Pass Filter ,1
775,high-pass filter time constant compensation for continuous vibration suppression ,10,-10,0,0,RW,100,RefreshOneTime,FALSE,high-pass filter time constant compensation for continuous vibration suppression ,1
776,Continuous Vibration Rejection Speed Feedback Compensation Percent 2 ,1000,0,0,0,RW,1,RefreshOneTime,FALSE,Continuous Vibration Rejection Speed Feedback Compensation Percent 2 ,1
777,Continuous vibration suppresses higher order vibration frequencies ,5000,1,2000,0,RW,10,RefreshOneTime,FALSE,Continuous vibration suppresses higher order vibration frequencies ,3
778,adjustment-free parameter ,9999,1,2000,0,RW,10,RefreshOneTime,FALSE,A.B format. A refers to the rigidity grade. and the setting range is 0-7. generally below 4. B refers to the inertia level. the setting range is 0-7. generally about 4 ,1
790,Actual speed loop proportional gain ,32767,-32767,0,0,R,1,RefreshPeridict,FALSE,Actual speed loop proportional gain ,1
791,Actual speed loop integral gain ,32767,-32767,0,0,R,1,RefreshPeridict,FALSE,Actual speed loop integral gain,1
792,Actual position loop proportional gain ,32767,-32767,0,0,R,1,RefreshPeridict,FALSE, Actual position loop proportional gain,1
793,Final calculated value of torque compensation ,32767,-32767,0,0,R,10,RefreshPeridict,FALSE, Final calculated value of torque compensation,1
797,torque feedforward value,32767,-32767,0,0,R,10,RefreshPeridict,FALSE, torque feedforward value,1
