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
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
706,Position Ring Maximum Output Speed Percent ,300,0,100,0,RW,10,RefreshOneTime,FALSE,Position Ring Maximum Output Speed Percent ,1
707,output voltage filtering ,300,0,1,0,RW,10,RefreshOneTime,FALSE,output voltage filtering ,1
708,Torque feedforward filter time constant ,63,0,0,0,RW,1,RefreshOneTime,FALSE,Torque feedforward filter time constant ,1
709,Speed feedforward filter time constant ,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 ,3,0,0,0,RW,1,RefreshOneTime,FALSE,: 0-low-pass filter; 1-trap filter; 2-No filtering; 3-Cascaded low-pass and notch ,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 ,1000,0,200,0,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 ,1000,0,200,0,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 ,4,0,0,0,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-Fixed first set of gains and proportional gain in bandwidth times 6.28 ,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 command 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 1~32 ,32,1,1,0,RW,1,RefreshOneTime,FALSE,Rigidity grade 1~32 ,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
737,Torque Feedforward 2 ,32767,0,1,0,RW,1,RefreshOneTime,FALSE,Torque Feedforward 2 ,1
738,Self-tuning Vibration Detection Threshold Percentage ,32767,0,1,0,RW,10,RefreshOneTime,FALSE,Self-tuning Vibration Detection Threshold Percentage ,1
739,self-tuning vibration amplitude ,32767,0,1,0,RW,1,RefreshOneTime,FALSE,self-tuning vibration amplitude ,1
744,Trap 3 Frequency ,1000,0,200,0,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 ,1000,0,200,0,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 ,100,0,100,0,RW,1,RefreshOneTime,FALSE,: 0-compensate a fixed value P07.53; 1-Compensated by AI 1; 2-Compensated by AI 2; 3-Compensation by AI 3; 4-Automatic compensation by compensation factor ,1
751,Torque compensation filter time ,32767,0,100,0,RW,1,RefreshOneTime,FALSE,Torque compensation filter time ,1
752,torque compensation inertia coefficient ,32767,0,100,0,RW,1,RefreshOneTime,FALSE,torque compensation inertia coefficient ,1
753,Torque compensation fixed value ,32767,-32767,100,0,RW,10,RefreshOneTime,FALSE,Torque compensation fixed value ,1
754,Torque compensation gain ,32767,-32767,100,0,RW,10,RefreshOneTime,FALSE,Torque compensation gain ,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
770,Field weakening function ,32767,-32767,100,0,RW,1,RefreshOneTime,FALSE,,1
779,CSP mode acceleration compensation ,32767,-32767,100,0,RW,10,RefreshOneTime,FALSE,CSP mode acceleration compensation 0.2pu at 50 rpm/ms ,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
795,Recommended Current Loop Proportional Gain ,32767,-32767,0,0,R,1,RefreshPeridict,FALSE,Recommended Current Loop Proportional Gain ,1
796,Recommended Current Loop Integral Gain,32767,-32767,0,0,R,1,RefreshPeridict,FALSE,Recommended Current Loop Integral Gain,1
