The driver parameters are divided into functional groups:

• P00-xx - Motor & Driver Parameters

• P01-xx - Main Control Parameters

• P02-xx - Gain Parameters

• P03-xx - Position Parameters

• P04-xx - Speed Parameters

• P05-xx - Torque Parameters

• P06-xx - I/O Parameters

• P08-xx - Advanced Function Parameters

   

Each parameter includes:

• Parameter code

• Unit

• Setting range

• Factory default

• Setting mode (Operation / Stop)

• Effective time (Immediate / Restart required)

P00 – Motor & Driver Parameters

These parameters define motor electrical characteristics, driver hardware settings, communication settings, braking configuration, and temperature management.

Most P00 parameters require restart to take effect.

Motor Core Data

These must match the motor nameplate:

• P00-00 Motor number (0–2000)

• P00-01 Rated speed (rpm) (1–12000)

• P00-02 Rated torque (0.01 Nm)

• P00-03 Rated current (0.01 A)

• P00-04 Rotary inertia (0.01 kg·cm²)

• P00-05 Motor pole logarithm (1–50)

• P00-09 Rated voltage (V)

• P00-10 Rated power (0.01 kW)

• P00-11 Maximum torque

• P00-12 Maximum speed (rpm)

Motor Electrical Constants

• P00-13 Stator resistance (1 m?)

• P00-14 Stator inductance Lq (0.01 mH)

• P00-15 Stator inductance Ld (0.01 mH)

• P00-16 Linear back EMF coefficient (0.01 mV/krpm)

• P00-17 Electrical constant (0.01 ms)

• P00-18 Mechanical constant (0.01 ms)

• P00-19 Current gain percentage (10–500%)

Encoder Settings

• P00-07 Encoder type (0–1)

• Encoder shielding options

• Multi-circle alarm

• Battery alarm

• P00-08 Encoder zero offset (0–360°)

Communication (RS-485 / Modbus)

• P00-23 Slave station ID (1–255)

• P00-24 Baud rate selection (0–7)

• 485 parity check mode

• P00-26 Modbus response delay (0–100, 0.1 ms unit)

These take effect immediately.

Braking Parameters

• P00-30 Brake resistance setting (0–2)

• External braking resistance power

• External braking resistance value

• Built-in braking resistor power

• Built-in braking resistance value

• Resistance heat dissipation coefficient

Temperature & Cooling

• P00-40 Temperature compensation (-20 to 20)

• P00-41 Overtemperature alarm (0–150°C)

• P00-42 Overtemperature warning (0–150°C)

• P00-43 Fan startup temperature (0–150°C)

• P00-44 Fan fault setting (0–1)

   

P01 – Main Control Parameters

These define general control behavior.

Includes:

• Direction of rotation selection

• Control mode selection (Position / Speed / Torque)

• Command source selection

• Pulse input logic

• Signal polarity

• Mode switching logic

These parameters define how the driver interprets commands and control signals.

P02 – Gain Parameters

These parameters adjust servo loop response and stability.

Includes:

• Speed loop gain

• Position loop gain

• Integral gain

• Feedforward parameters

• Response bandwidth

• Filter parameters

These parameters affect:

• System stiffness

• Overshoot

• Oscillation

• Vibration behavior

Adjust carefully.

P03 – Position Parameters

Used when operating in Position Mode.

Includes:

• Electronic gear numerator / denominator

• Pulse scaling

• In-position window

• Position arrival detection

• Position command smoothing

Defines how input pulses are converted into motor movement.

P04 – Speed Parameters

Used when operating in Speed Mode.

Includes:

• Speed command scaling

• Acceleration time

• Deceleration time

• Maximum speed limits

• Speed command filtering

Defines speed response behavior.

P05 – Torque Parameters

Used when operating in Torque Mode.

Includes:

• Torque limit settings

• Torque scaling

• Torque filter

• Overload handling

   

Defines force / torque output control behavior.

P06 – I/O Parameters

Defines digital and analog signal behavior.

Digital Outputs (DO)

Example parameters:

• DO1 function selection

• DO2 function selection

• DO3 / DO4 mapping

Selectable output signals include:

• Alarm

• Servo ready

• Position arrived

• Other internal status signals

   

Analog Input (AI1)

Example parameters:

• Speed per 1V (rpm/V scaling)

• AI filter time constant

• AI bias (offset)

• AI deadband

Used when analog voltage is used as command source.

P08 – Advanced Function Parameters

This section includes special filters and advanced motion functions.

Notch Filter (Trap Filter)

Parameters:

• P08-24.x Trap enable (0–1)

• P08-30 Notch filter 1 frequency (50–5000 Hz)

• P08-31 Notch filter 1 width (50–1000)

• P08-32 Notch filter 1 depth (0–1000)

• P08-33–P08-38 Notch filter 2 & 3 parameters

Notes:

• No.1 and No.2 traps require P08-24 enabled

• Third trap requires frequency parameter set

Used for mechanical resonance suppression.

Monitoring Items (d00 – dxx)

These are real-time monitoring values.

Examples include:

• Motor speed

• Position

• Torque

• Current

• Voltage

• Temperature

• Alarm codes

• Internal status flags

Used for debugging and system diagnostics.

Parameter Effective Time Summary

• Many P00 motor parameters require restart

• Communication parameters usually take immediate effect

• Filter and control adjustments often take immediate effect

• Always verify “Effective time” column in parameter table before modifying