Parker HannifinP Series User Guide 78Configuration8213 0x2015WarningMaskConfiguration0x2014 UINT 0 0 0xFFFF - RW8214 0x2016U PhaseCurrentOffset0x2015 INT 0 -1000 1000 0.10% RW8215 0x2017V PhaseCurrentOffset0x2016 INT 0 -1000 1000 0.10% RW8216 0x2018W PhaseCurrentOffset0x2017 INT 0 -1000 1000 0.10% RW8217 0x2019 MagneticPole Pitch 0x2018 UINT 2400 1 65535 0.01mm RW8218 0x201A Linear ScaleResolution 0x2019 UINT 1000 1 65535 nm RW8219 0x201B CommutationMethod 0x201A UINT 0 0 2 - RW8220 0x201C CommutationCurrent 0x201B UINT 500 0 1000 0.10% RW8221 0x201D CommutationTime 0x201C UINT 1000 500 5000 ms RW8222 0x201EGratingPeriod ofSinusoidalEncoder0x201D UINT 40 1 65535 Um RW8223 0x201FHomingDoneBehavior0x201E UINT 0 0 1 - RW8224 0x2020VelocityFunctionSelect0x201F UINT 0 0 2 - RW8225 0x2021Motor HallPhaseConfiguration0x2020 UINT 0 0 1 - RWTable 35. System Configuration Parameters4.3.2 Control Parameterscommunicationaddress parameter name parameter No.VariableFormatDefaultValue Min Max Unit Accessibilitydecimalhexadecimal8448 0x2100 Inertia Ratio 0x2100 UINT 100 0 3000 % RW8449 0x2101 Position Loop Gain 1 0x2101 UINT 50 0 500 1/s RW8450 0x2102 Speed Loop Gain 1 0x2102 UINT 75 0 2000 Hz RW8451 0x2103 Speed Loop Integral TimeConstant 1 0x2103 UINT 50 1 1000 ms RW8452 0x2104 Torque Command FilterTime Constant 1 0x2104 UINT 0 0 1000 0.1ms RW8453 0x2105 Position Loop Gain 2 0x2105 UINT 30 0 500 1/s RW8454 0x2106 Speed Loop Gain 2 0x2106 UINT 50 0 2000 Hz RW8455 0x2107 Speed Loop Integral TimeConstant 2 0x2107 UINT 50 1 1000 ms RW8456 0x2108 Torque Command FilterTime Constant 2 0x2108 UINT 0 0 1000 0.1ms RW8457 0x2109 Position Command FilterTime Constant 0x2109 UINT 0 0 1000 0.1ms RW8458 0x210A Position Command AverageFilter Time Constant 0x210A UINT 0 0 1000 0.1ms RW8459 0x210B Speed Feedback FilterTime Constant 0x210B UINT 2 0 1000 0.1ms RW8460 0x210C Speed Feed-forward Gain 0x210C UINT 0 0 100 % RW8461 0x210D Speed Feed-forward FilterTime Constant 0x210D UINT 10 0 1000 0.1ms RW8462 0x210E Torque Feed-forward Gain 0x210E UINT 0 0 100 % RW8463 0x210F Torque Feed-forward FilterTime Constant 0x210F UINT 10 0 1000 0.1ms RW8464 0x2110 Torque Limit FunctionSelect 0x2110 UINT 2 0 4 - RWwww.comoso.com
