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◎P1-09
Position loop front feedforward gain
Initial value：0
Control mode：5,6
Unit：1%
Setting range：1~100
Modify effective time："√"can modify at any time,will take effect immediately.
Parameter function：Setting unit here means 1% of the deviation pulse. In the case where a fast
response of the position loop is required, the feedforward gain of the position loop can be
appropriately increased, but if set too big,will cause overshoot of the speed loop.
◎P1-10
Feedforward filter time parameter
Initial value：0
Control mode：5,6
Unit：0.01ms
Setting range：1~65535
Modify effective time："√"can modify at any time,will take effect immediately.
Parameter function：The filtering time of the position feedback signal before the position loop.
P2-XX Position parameter
◎P2-00
Command pulse form
Initial value：2
Control mode：6,7
Unit：~
Setting range：0,2
Modify effective time：Can modify when servo OFF，Will Take effect by power off and restart
Parameter function：1：A，B pulse mode；
2：Pulse + direction；DIR=1 Forward，DIR=0 Reverse；
3: CW,CCW mode；
◎P2-01
Position command filter selection
Initial value：2
Control mode：6,7
Unit：~
Setting range：0,1（Can modify when servo OFF，will take effect by power off and restart）
Parameter function：0：First stage inertial filtering
1：Smoothing filter
◎P2-02
Electronic gear ratio (molecular)
Initial value：1
Control mode：Position control (internal position command)
58
0X0109
0X010a
0X0200
0X0201
Actual number of
0X0202
received pulses
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