The table below contains basic overview information about the SureServo2 system's Extension parameters (P2.xxx). For detailed parameter information, you can access the SureServo2 user manual's parameter section by clicking the link below:
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| Param. No. | Function | Range | Run Read/Write | Address | Default |
|---|---|---|---|---|---|
| P2.000 | Position control gain | 0–2047 rad/s | Read/Write | 0200H 0201H |
35 |
| P2.001 | Position control gain rate of change | 10–500 % | Read/Write | 0202H 0203H |
100 |
| P2.002 | Position feed forward gain | 0–100 % | Read/Write | 0204H 0205H |
50 |
| P2.003 | Position feed forward gain smoothing constant | 2–100 ms | Read/Write | 0206H 0207H |
5 |
| P2.004 | Speed control gain | 0–8191 rad/s | Read/Write | 0208H 0209H |
500 |
| P2.005 | Speed control gain rate of change | 10–500 % | Read/Write | 020AH 020BH |
100 |
| P2.006 | Speed integral compensation | 0–1023 rad/s | Read/Write | 020CH 020DH |
100 |
| P2.007 | Speed feed forward gain | 0–100 % | Read/Write | 020EH 020FH |
0 |
| P2.008 | Special parameter write-in function | 0–65535 | Read/Write | 0210H 0211H |
0 |
| P2.009 | DI response filter time | 0–20 ms | Read/Write | 0212H 0213H |
2 |
| P2.010 | DI1 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0214H 0215H |
0x0101 |
| P2.011 | DI2 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0216H 0217H |
0x0104 |
| P2.012 | DI3 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0218H 0219H |
0x0116 |
| P2.013 | DI4 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 021AH 021BH |
0x0117 |
| P2.014 | DI5 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 021CH 021DH |
0x0102 |
| P2.015 | DI6 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 021EH 021FH |
0x0022 |
| P2.016 | DI7 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0220H 0221H |
0x0023 |
| P2.017 | DI8 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0222H 0223H |
0x0021 |
| P2.018 | DO1 functional planning | 0–0x013F (last two codes are DO codes) | Read/Write | 0224H 0225H |
0x0101 |
| P2.019 | DO2 functional planning | 0–0x013F (last two codes are DO codes) | Read/Write | 0226H 0227H |
0x0103 |
| P2.020 | DO3 functional planning | 0–0x013F (last two codes are DO codes) | Read/Write | 0228H 0229H |
0x0109 |
| P2.021 | DO4 functional planning | 0–0x013F (last two codes are DO codes) | Read/Write | 022AH 022BH |
0x0105 |
| P2.022 | DO5 functional planning | 0–0x013F (last two codes are DO codes) | Read/Write | 022CH 022DH |
0x0007 |
| P2.023 | Notch filter frequency (1) | 50–5000 Hz | Read/Write | 022EH 022FH |
1000 |
| P2.024 | Notch filter attenuation level (1) | 0–40 -dB | Read/Write | 0230H 0231H |
0 |
| P2.025 | Resonance suppression low-pass filter | Panel/software: 0.0–100.0 (1 ms) Communication: 0–1000 (0.1 ms) |
Read/Write | 0232H 0233H |
1.0 10 |
| P2.026 | Anti-interference gain | 0–1023 rad/s | Read/Write | 0234H 0235H |
0 |
| P2.027 | Gain switching condition and method selection | 0x0000 - 0x0018 | Read/Write | 0236H 0237H |
0x0000 |
| P2.028 | Gain switching time constant | 0–1000 ms | Read/Write | 0238H 0239H |
10 |
| P2.029 | Gain switching condition | 0–50331648 pulse; Kpps; rpm | Read/Write | 023AH 023BH |
16777216 |
| P2.030 | Auxiliary function | -8 to +8 | Read/Write■ | 023CH 023DH |
0 |
| P2.031 | Bandwidth response level | 1–50 | Read/Write | 023EH 023FH |
19 |
| P2.032 | Gain adjustment mode | 0–4 | Read/Write | 0240H 0241H |
0x0001 |
| P2.033 | Reserved | – | – | – | – |
| P2.034 | Speed command error warning | 1–30000 rpm | Read/Write | 0244H 0245H |
5000 |
| P2.035 | Excessive deviation of Position command warning | 1–1677721600 pulse | Read/Write | 0246H 0247H |
50331648 |
| P2.036 | DI9 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0248H 0249H |
0x0000 |
| P2.037 | DI10 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 024AH 024BH |
0x0000 |
| P2.038 | VDI11 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 024CH 024DH |
0x0000 |
| P2.039 | VDI12 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 024EH 024FH |
0x0000 |
| P2.040 | VDI13 functional planning | 0–0x015F (last two codes are DI codes) | Read/Write | 0250H 0251H |
0x0000 |
| P2.041 | DO6 functional planning | 0–0x013F (last two codes are DO codes) | Read/Write | 0252H 0253H |
0x0000 |
| P2.042 | Reserved | – | – | – | – |
| P2.043 | Notch filter frequency (2) | 50–5000 Hz | Read/Write | 0256H 0257H |
1000 |
| P2.044 | Notch filter attenuation level (2) | 0–40 -dB | Read/Write | 0258H 0259H |
0 |
| P2.045 | Notch filter frequency (3) | 50–5000 Hz | Read/Write | 025AH 025BH |
1000 |
| P2.046 | Notch filter attenuation level (3) | 0–40 -dB | Read/Write | 025CH 025DH |
0 |
| P2.047 | Auto resonance suppression mode | 0x0000–0x01F2 | Read/Write | 025EH 025FH |
0x0001 |
| P2.048 | Auto resonance detection level | 0–1000 | Read/Write | 0260H 0261H |
100 |
| P2.049 | Speed detection filter and jitter suppression | Panel/software: 0.0–100.0 (1 ms) Communication: 0–1000 (0.1 ms) |
Read/Write | 0262H 0263H |
1.0 10 |
| P2.050 | Pulse Clear mode | 0–1 | Read/Write | 0264H 0265H |
0x0000 |
| P2.051 | Reserved | – | – | – | – |
| P2.052 | Indexing coordinates scale | 0–1000000000 PUU | Read/Write▲ | 0268H 0269H |
1000000000 |
| P2.053 | Position integral compensation | 0–1023 rad/s | Read/Write | 026AH 026BH |
0 |
| P2.054 | Synchronous speed control gain | 0–8191 rad/s | Read/Write▲ | 026CH 026DH |
0 |
| P2.055 | Synchronous speed integral compensation | 0–1023 rad/s | Read/Write▲ | 026EH 026FH |
0 |
| P2.056 | Synchronous position integral compensation | 0–1023 rad/s | Read/Write▲ | 0270H 0271H |
0 |
| P2.057 | Synchronous control bandwidth | 0–1023 Hz | Read/Write▲ | 0272H 0273H |
0 |
| P2.058 | Synchronous speed error low-pass filter | 0–1000 0.1 ms | Read/Write | 0274H 0275H |
0 |
| P2.059 | Reserved | – | – | – | – |
| P2.060 | E-Gear ratio (numerator) (N2) | 1 to (229-1) pulse | Read/Write | 0278H 0279H |
16777216 |
| P2.061 | E-Gear ratio (numerator) (N3) | 1 to (229-1) pulse | Read/Write | 027AH 027BH |
16777216 |
| P2.062 | E-Gear ratio (numerator) (N4) | 1 to (229-1) pulse | Read/Write | 027CH 027DH |
16777216 |
| P2.063 | Reserved | – | – | – | – |
| P2.064 | Reserved | – | – | – | – |
| P2.065 | Special bit register | 0–0xFFFF | Read/Write | 0282H 0283H |
0 |
| P2.066 | Special bit register 2 | 0x0000–0x182F | Read/Write | 0284H 0285H |
0x0020 |
| P2.067 | Reserved | – | – | – | – |
| P2.068 | Following error compensation switch | 0x00000000–0x00002101 | Read/Write | 0288H 0289H |
0x00000000 |
| P2.069 | Absolute encoder | 0–1 | Read/Write● | 028AH 028BH |
0x0000 |
| P2.070 | Read data selection | 0x00–0x07 | Read/Write | 028CH 028DH |
0x0000 |
| P2.071 | Absolute position homing | 0–1 | Read/Write■ | 028EH 028FH |
0x0 |
| P2.072 | Reserved | – | – | – | – |
| P2.073 | Reserved | – | – | – | – |
| P2.074 | Reserved | – | – | – | – |
| P2.075 | Reserved | – | – | – | – |
| P2.076 | Reserved | – | – | – | – |
| P2.077 | Reserved | – | – | – | – |
| P2.078 | E-Cam: DO.CAM_AREA#2 rising-edge phase | 0–360 degree | Read/Write | 029CH 029DH |
270 |
| P2.079 | E-Cam: DO.CAM_AREA#2 falling-edge phase | 0–360 degree | Read/Write | 029EH 029FH |
360 |
| P2.080 | Z pulse souce of homing | 0x0000–0x0011 | Read/Write | 02A0H 02A1H |
0x0000 |
| P2.081 | Reserved | – | – | – | – |
| P2.082 | Reserved | – | – | – | – |
| P2.083 | Reserved | – | – | – | – |
| P2.084 | Reserved | – | – | – | – |
| P2.085 | Reserved | – | – | – | – |
| P2.086 | Reserved | – | – | – | – |
| P2.087 | Reserved | – | – | – | – |
| P2.088 | Reserved | – | – | – | – |
| P2.089 | Command response gain | 1–2000 rad/s | Read/Write | 02B2H 02B3H |
25 |
| P2.090 | Reserved | – | – | – | – |
| P2.091 | Reserved | – | – | – | – |
| P2.092 | Reserved | – | – | – | – |
| P2.093 | Reserved | – | – | – | – |
| P2.094 | Special bit register 3 | 0x0000–0xF3A6 | Read/Write▲ | 02BCH 02BDH |
0x1000 |
| P2.095 | Notch filter bandwidth (1) | 1–10 | Read/Write | 02BEH 02BFH |
5 |
| P2.096 | Notch filter bandwidth (2) | 1–10 | Read/Write | 02C0H 02C1H |
5 |
| P2.097 | Notch filter bandwidth (3) | 1–10 | Read/Write | 02C2H 02C3H |
5 |
| P2.098 | Notch filter frequency (4) | 50–5000 Hz | Read/Write | 02C4H 02C5H |
1000 |
| P2.099 | Notch filter attenuation level (4) | 0–40 -dB | Read/Write | 02C6H 02C7H |
0 |
| P2.100 | Notch filter bandwidth (4) | 1–10 | Read/Write | 02C8H 02C9H |
5 |
| P2.101 | Notch filter frequency (5) | 50–5000 Hz | Read/Write | 02CAH 02CBH |
1000 |
| P2.102 | Notch filter attenuation level (5) | 0–40 -dB | Read/Write | 02CCH 02CDH |
0 |
| P2.103 | Notch filter bandwidth (5) | 1–10 | Read/Write | 02CEH 02CFH |
5 |
| P2.104 | P/PI torque switching command condition | 1–800 % | Read/Write | 02D0H 02D1H |
200 |
| P2.105 | Automatic gain adjustment level 1 | 1–21 | Read/Write | 02D2H 02D3H |
11 |
| P2.106 | Automatic gain adjustment level 2 | 1–50331648 pulse number | Read/Write | 02D4H 02D5H |
2000 |
| P2.107 | Reserved | – | – | – | – |
| P2.108 | Reserved | – | – | – | – |
| P2.109 | Reserved | – | – | – | – |
| P2.110 | Reserved | – | – | – | – |
| P2.111 | Reserved | – | – | – | – |
| P2.112 | Special bit register 4 | 0x0000–0x001F | Read/Write▲ | 02E0H 02E1H |
0x0008 |