User guide

Publication 8720MC-IN002A-EN-P — December 2002
C-4 Programming Parameters
* Used only with SERCOS interface.
File: Group File: Group File: Group File: Group
Servo Loop: Group 0 Servo Loop: Group 2 Servo Loop: Group 4 Servo Loop: Group 6
505* OP Mode 0 831* OP Mode 2 871* OP Mode 4 911* OP Mode 6
38 +Vel Limit 0 832 +Vel Limit 2 872 +Vel Limit 4 912 +Vel Limit 6
39 -Vel Limit 0 833 -Vel Limit 2 873 -Vel Limit 4 913 -Vel Limit 6
136 +Accel Limit 0 845 +Accel Limit 2 885 +Accel Limit 4 925 +Accel Limit 6
137 -Accel Limit 0 846 -Accel Limit 2 886 -Accel Limit 4 926 -Accel Limit 6
82 +Torque Limit 0 834 +Torque Limit 2 874 +Torque Limit 4 914 +Torque Limit 6
83 -Torque Limit 0 835 -Torque Limit 2 875 -Torque Limit 4 915 -Torque Limit 6
100 Vel Prop Gain 0 836 Vel Prop Gain 2 876 Vel Prop Gain 4 916 Vel Prop Gain 6
101 Vel Integ Time 0 837 Vel Integ Time 2 877 Vel Integ Time 4 917 Vel Integ Time 6
104 Pos Loop Gain 0 838 Pos Loop Gain 2 878 Pos Loop Gain 4 918 Pos Loop Gain 6
105 Pos Int Time 0 839 Pos Int Time 2 879 Pos Int Time 4 919 Pos Int Time 6
296 Vel Fdfwd Gain 0 840 Vel Fdfwd Gain 2 880 Vel Fdfwd Gain 4 920 Vel Fdfwd Gain 6
348 Acc Fdfwd Gain 0 841 Acc Fdfwd Gain 2 881 Acc Fdfwd Gain 4 921 Acc Fdfwd Gain 6
523 System Accel 0 842 System Accel 2 882 System Accel 4 922 System Accel 6
561 Torq Notch Freq0 843 Torq Notch Freq2 883 Torq Notch Freq4 923 Torq Notch Freq6
562 Torq Lowpas Frq0 844 Torq Lowpas Frq2 884 Torq Lowpas Frq4 924 Torq Lowpas Frq6
121 Gear In Revs 0 847 Gear In Revs 2 887 Gear In Revs 4 927 Gear In Revs 6
122 Gear Out Revs 0 848 Gear Out Revs 2 888 Gear Out Revs 4 928 Gear Out Revs 6
Servo Loop: Group 1 Servo Loop: Group 3 Servo Loop: Group 5 Servo Loop: Group 7
811* OP Mode 1 851* OP Mode 3 891* OP Mode 5 931* OP Mode 7
812 +Vel Limit 1 852 +Vel Limit 3 892 +Vel Limit 5 932 +Vel Limit 7
813 -Vel Limit 1 853 -Vel Limit 3 893 -Vel Limit 5 933 -Vel Limit 7
825 +Accel Limit 1 865 +Accel Limit 3 905 +Accel Limit 5 945 +Accel Limit 7
826 -Accel Limit 1 866 -Accel Limit 3 906 -Accel Limit 5 946 -Accel Limit 7
814 +Torque Limit 1 854 +Torque Limit 3 894 +Torque Limit 5 934 +Torque Limit 7
815 -Torque Limit 1 855 -Torque Limit 3 895 -Torque Limit 5 935 -Torque Limit 7
816 Vel Prop Gain 1 856 Vel Prop Gain 3 896 Vel Prop Gain 5 936 Vel Prop Gain 7
817 Vel Integ Time 1 857 Vel Integ Time 3 897 Vel Integ Time 5 937 Vel Integ Time 7
818 Pos Loop Gain 1 858 Pos Loop Gain 3 898 Pos Loop Gain 5 938 Pos Loop Gain 7
819 Pos Int Time 1 859 Pos Int Time 3 899 Pos Int Time 5 939 Pos Int Time 7
820 Vel Fdfwd Gain 1 860 Vel Fdfwd Gain 3 900 Vel Fdfwd Gain 5 940 Vel Fdfwd Gain 7
821 Acc Fdfwd Gain 1 861 Acc Fdfwd Gain 3 901 Acc Fdfwd Gain 5 941 Acc Fdfwd Gain 7
822 System Accel 1 862 System Accel 3 902 System Accel 5 942 System Accel 7
823 Torq Notch Freq1 863 Torq Notch Freq3 903 Torq Notch Freq5 943 Torq Notch Freq7
824 Torq Lowpas Frq1 864 Torq Lowpas Frq3 904 Torq Lowpas Frq5 944 Torq Lowpas Frq7
827 Gear In Revs 1 867 Gear In Revs 3 907 Gear In Revs 5 947 Gear In Revs 7
828 Gear Out Revs 1 868 Gear Out Revs 3 908 Gear Out Revs 5 948 Gear Out Revs 7
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