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Appendix E
Parameter Record
E-6
Modify Level
Parameter
Description
68
Bandwidth Maximum
69
Auto Tune Friction
128
EEprom Functions
130
Drive OK Mode
131
Language Select
132
Velocity Mode Select
133
Torque Mode Select
144
Clockwise Velocity Limit
145
Counterclockwise Velocity Limit
146
Accel/Decel Ramp
156
Positive Current Limit
157
Negative Current Limit
159
Current Preload
168
Kp Velocity Loop
169
Ki Velocity Loop
170
Feed Forward Gain
171
Static Gain
182
Desired Velocity Bandwidth
183
Velocity Damping Selection
184
Velocity Low Pass Filter Bandwidth
185
Lead/Lag Vel. Fdbk. Filter Gain
186
Lead/Lag Vel. Fdbk. Filter Bandwidth
187
Auto Tune Velocity
188
Auto Tune Current Limit
189
Auto Tune Inertia
190
Auto Tune Select
210
A/D Converter Offset
211
Analog Velocity Gain
212
D/A #1 Gain
233
Cable Compensation
Default
Actual
–
*
–
*
–
0 Fault Only
0 English
0 A/D Input
0 Velocity Mode 1
–
–
22216 rads/sec.
–
–
0
100
6667
0
1 rpm
200 rads/sec.
0 zeta=0.87
30000 rads/sec.
1.00
250 rads/sec.
+1000 rpm
50%
100 ms
–
0 mV
+500 rpm/volt
+0.07
50 ft.
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