Parameter List

Sources: 05.ES610_参数列表.html (the “Appendix D Parameter List” of the ES610 comprehensive manual) and 610调试参数-华美达.html

Usage notes

When FP-00 is set to a nonzero value, a user password is enabled. In function-parameter mode and user-changed-parameter mode, the parameter menu is accessible only after the correct password is entered. To remove the password, set FP-00 to 0.

The user password only locks panel operation. After entering the correct password, the valid session for reading/writing via the keypad lasts one hour; after that, the password must be re-entered. Communication operations can read and write parameters without a password (except for the FP group).

The “Change” column uses the following symbols:

Symbol	Meaning
Real-time	Changeable in both stop and run states.
Stop-only	Cannot be changed while running.
Read-only	Read-only detected value.

⚠️

The parameter tables were extracted from PDF-to-HTML conversion. Long tables that cross pages may have misaligned cells. Before batch-writing parameters in the field, verify against the original manufacturer PDF or the drive’s actual display.

Parameter table fields

Field	Description
Parameter	Drive parameter number, e.g. `F0-00`, `F1-02`, `A3-01`.
Communication address	Parameter’s communication address.
Name	Parameter name.
Setting value	Settable values, enumerations, or read-only range.
Default	Factory default.
Unit	Parameter unit.
Change	Whether the value can be changed while running, or whether it is read-only / factory.

F0 group: basic operation parameters

Parameter	Name	Setting value	Default	Unit	Change
`F0-00`	Model selection	1: G-type; 2: P-type	1	-	Read-only
`F0-01`	Control mode	1: closed-loop vector (FVC)	1	-	Stop-only
`F0-02`	Command source	0: operator panel; 1: terminal; 2: communication	0	-	Real-time
`F0-03`	Main frequency source	0: digital UP/DOWN (not stored); 1: digital UP/DOWN (stored); 2: AI1; 3: AI2; 4: AI3; 6: multi-speed; 9: communication	0	-	Stop-only
`F0-04`	Auxiliary frequency source Y	0–9 (same as F0-03)	0	-	Stop-only
`F0-05`	Auxiliary frequency Y range reference	0: relative to max frequency; 1: relative to main source X	0	-	Real-time
`F0-06`	Auxiliary frequency Y range	0%–100%	100	%	Real-time
`F0-07`	Frequency source selection	0–3	0	-	Real-time
`F0-08`	Preset frequency	0.00Hz–300.00Hz	100.00	Hz	Real-time
`F0-09`	Rotation direction	0: same; 1: reversed	0	-	Stop-only
`F0-10`	Max frequency	50.00Hz–300.00Hz	200.00	Hz	Stop-only
`F0-11`	Upper-frequency source	0: F0-12; 1–5: AI/communication	0	-	Stop-only
`F0-12`	Upper frequency	`F0-14`Hz–`F0-10`Hz	200.00	Hz	Real-time
`F0-13`	Upper-frequency bias	0.00Hz–`F0-10`Hz	0.00	Hz	Real-time
`F0-14`	Lower frequency	0.00Hz–`F0-12`Hz	0.00	Hz	Real-time
`F0-15`	Carrier frequency	2.0kHz–8.0kHz	5.0	kHz	Stop-only
`F0-17`	Acceleration time	0ms–65000ms	20000	ms	Real-time
`F0-18`	Deceleration time	0ms–65000ms	20000	ms	Real-time

F1 group: motor parameters

Parameter	Name	Setting value	Default	Unit	Change
`F1-00`	Motor type	0–65535	14101	-	Stop-only
`F1-01`	Motor rated power	0.00kW–650.00kW	0.75	kW	Stop-only
`F1-02`	Motor rated voltage	0V–800V	380	V	Stop-only
`F1-03`	Motor rated current	0.00A–650.00A	4.70	A	Stop-only
`F1-04`	Motor rated frequency	0.00Hz–300.00Hz	133.00	Hz	Read-only
`F1-05`	Motor rated speed	0–3000 rpm	1500	rpm	Stop-only
`F1-06`	Motor rated torque	0.00Nm–650.00Nm	2.39	Nm	Stop-only
`F1-07`	Motor max torque	0.00Nm–650.00Nm	7.16	Nm	Stop-only
`F1-08`	Motor inertia	0.00–650.00	1.30	-	Stop-only
`F1-09`	Motor pole pairs	0–10	4	-	Stop-only
`F1-10`	Torque constant Kt	0.00–650.00	0.51	-	Real-time
`F1-11`	Synchronous D-axis inductance	0.00–655.35	3.87	-	Stop-only
`F1-12`	Synchronous Q-axis inductance	0.00–655.35	3.27	-	Stop-only
`F1-13`	Synchronous stator resistance	0.000Ω–65.535Ω	0.500	Ω	Stop-only
`F1-14`	Electrical constant Te	0.00–655.35	6.54	-	Stop-only
`F1-15`	Synchronous back-EMF	0V–65535V	300	V	Read-only
`F1-16`	Tuning selection	0: none; 1: no-load static identification; 2: no-load dynamic identification; 3: no-load initial-angle identification; 4: no-load R/L identification; 5: no-load back-EMF identification	0	-	Stop-only
`F1-17`	Max speed	0–65535 rpm	6000	rpm	Stop-only
`F1-18`	Back-EMF coefficient	0.00–655.35	33.30	-	Stop-only
`F1-19`	Absolute encoder offset L	0–65535	8192	-	Stop-only
`F1-20`	Absolute encoder offset H	0–65535	0	-	Stop-only
`F1-21`	D-axis back-EMF compensation	0.0–6553.5	60.0	-	Real-time
`F1-22`	Q-axis back-EMF compensation	0.0–6553.5	100.0	-	Real-time
`F1-23`	D-axis current-loop P gain	0–65535	1000	-	Real-time
`F1-24`	D-axis current-loop I compensation	0.00–655.35	2.00	-	Real-time
`F1-25`	Q-axis current-loop P gain	0–65535	1000	-	Real-time
`F1-26`	Q-axis current-loop I compensation	0.00–655.35	1.00	-	Real-time
`F1-33`	Mechanical time constant Tm	0.00–655.35	0.24	-	Stop-only
`F1-34`	Bus motor model	0–65535	0	-	Stop-only
`F1-35`	Absolute-encoder function bits	0–65535	0	-	Stop-only
`F1-36`	Motor max current	0.00A–655.35A	16.95	A	Stop-only
`F1-39`	Encoder software version	0.0–6553.5	0.0	-	Read-only
`F1-40`	Absolute-encoder type	0–65535	0	-	Stop-only

F2 group: speed-loop and servo control

Parameter	Name	Setting value	Default	Unit	Change
`F2-00`	Speed-loop P gain 1	0.1–2000.0	25.0	-	Real-time
`F2-01`	Speed-loop I time 1	0.15–512.00	31.83	-	Real-time
`F2-02`	Speed-loop switch speed 1	0 rpm – `F2-05` rpm	75	rpm	Real-time
`F2-03`	Speed-loop P gain 2	0.1–2000.0	14.0	-	Real-time
`F2-04`	Speed-loop I time 2	0.15–512.00	26.53	-	Real-time
`F2-05`	Speed-loop switch speed 2	`F2-02` rpm – 20000 rpm	150	rpm	Real-time
`F2-06`	Real-time inertia ratio	0.00–120.00	2.00	-	Read-only
`F2-07`	Speed-feedback filter time	0.1ms–100.0ms	2.0	ms	Real-time
`F2-08`	Servo performance mode	0: normal; 1: enhanced; 2: high-performance	0	-	Real-time
`F2-09`	Torque upper-limit source (speed mode)	0: `F2-10`; 1–3: AI; 5: communication	0	-	Real-time
`F2-10`	Torque upper limit	0.0–250.0	200.0	-	Real-time
`F2-11`	Auto-tune mode	0–1	1	-	Real-time
`F2-12`	Stiffness level 1	0–31	12	-	Real-time
`F2-13`	Load inertia-ratio setting	0.00–120.00	1.00	-	Stop-only
`F2-14`	Stiffness level 2 Kp	0–31	10	-	Real-time
`F2-15`	Stiffness level 2 Ki	0–31	13	-	Real-time
`F2-16`	Speed-feedforward filter time	0.00–64.00	0.50	-	Real-time
`F2-17`	Speed feedforward gain	0.0–100.0	0.0	-	Real-time
`F2-19`	Speed-feedback low-pass cutoff	100–4000	4000	-	Real-time
`F2-20`	Torque feedforward selection	0–1	1	-	Real-time
`F2-25`	Torque-feedforward filter time	0.00–64.00	0.50	-	Real-time
`F2-26`	Torque feedforward gain	0.0–200.0	0.0	-	Real-time
`F2-27`	PDFF coefficient	0.0–1000.0	100.0	-	Real-time
`F2-28`	Speed-feedback selection	0–1	0	-	Real-time
`F2-29`	Speed-observer coefficient	0.0–100.0	0.0	-	Real-time
`F2-30`	Speed-observer cutoff	10Hz–2000Hz	170	Hz	Real-time

A3 group: pressure-control parameters

A3 is the function group specific to the ES610 hydraulic servo system. It covers pressure-mode selection, max speed, system pressure, PID response, pressure release, base flow/pressure, filter times, and other key parameters.

⚠️

Only parameters explicitly referenced in the quick-tuning guide and HMD site parameters are listed. For the full A3 group, refer to the original manufacturer manual.

Parameter	Name	Range	Default	Unit	Change
`A3-00`	Pressure-mode selection	0: speed; 2: analog; 4: pressure PN; 6: CANopen	0	-	Stop-only
`A3-01`	Max speed	0–65535	-	rpm	Real-time
`A3-02`	System pressure	0 to max pressure (`A3-03`)	-	kg/cm²	Real-time
`A3-03`	Max pressure	0 to sensor range	-	kg/cm²	Real-time
`A3-04`	Group-1 pressure-command rise time	0.000s–2.000s	-	s	Real-time
`A3-05`	Group-1 PID P gain Kp	0.0–800.0	-	-	Real-time
`A3-06`	Group-1 PID I time Ki	0.001–10.000	-	-	Real-time
`A3-07`	Group-1 PID D time Kd	-	-	-	Real-time
`A3-08`	Max reverse speed (release)	0%–100%	-	%	Real-time
`A3-09`	Base flow	0.0%–50.0%	-	%	Real-time
`A3-10`	Base pressure	0.0–50.0	-	kg/cm²	Real-time
`A3-20`	AI zero-drift auto-correction	0–1	0	-	Real-time
`A3-25`	Group-1 pressure-rise S-filter	0.000s–1.000s	-	s	Real-time
`A3-26`	Group-1 pressure-fall S-filter	0.000s–1.000s	-	s	Real-time
`A3-29`	Pressure-loop gain coefficient	0.2%–5.00%	1.00	%	Real-time
`A3-63`	High/low-pressure PI switch enable	0–1	0	-	Real-time
`A3-64`	Group-1 low-pressure control Kp	0.0–800.0	210	-	Real-time
`A3-65`	Group-1 low-pressure control Ti	0.001–10.000	0.5	-	Real-time
`A3-66`	Group-1 high-pressure control Kp	0.0–800.0	260	-	Real-time
`A3-67`	Group-1 high-pressure control Ti	0.001–10.000	0.02	-	Real-time
`A3-68`	Low-pressure threshold	0.0 to `A3-69`	50	-	Real-time
`A3-69`	High-pressure threshold	`A3-68` to `A3-02`	100	-	Real-time

A4 group: advanced pressure-control parameters

Parameter	Name	Range	Default	Unit	Change
`A4-02`	Group-1 pressure-command fall time	0.000s–2.000s	-	s	Real-time
`A4-03`	Group-1 flow-command rise time	0–5.000s	-	s	Real-time
`A4-04`	Group-1 flow-command fall time	0–5.000s	-	s	Real-time
`A4-44`	Pressurize-to-hold PID switch	0–7	0	-	Real-time
`A4-45`	Feedback-pressure filter for switching into hold	0.000s–5.000s	0.005	s	Real-time
`A4-46`	Pressure deviation for switching into hold	0.0–10.0	1	kg/cm²	Real-time
`A4-47`	Speed ceiling for switching into hold	0–1000	200	rpm	Real-time
`A4-79`	Hold detection follows setpoint change	0–1	1	-	Real-time
`A4-80`	Inertia auto-adjust low-pressure threshold	0.0 to `A4-81`	10	kg/cm²	Real-time
`A4-81`	Inertia auto-adjust high-pressure threshold	`A4-80` to `A3-02`	20	kg/cm²	Real-time
`A4-82`	Inertia ratio at low-pressure threshold	0.2 to `F2-13`	0.5	-	Real-time

F4 group: analog I/O parameters

F4 parameters configure ranges, filters, and mappings for AI1–AI4 and AO1–AO2. In pressure mode, F4 works together with A3 to calibrate pressure command, flow command, and pressure feedback.

⚠️

Only F4 parameters explicitly referenced in the quick-tuning guide are listed. For the full F4 group, refer to the original manufacturer manual.

Parameter	Name	Range	Description
`F4-18`	AI1 minimum input	-	Minimum voltage for pressure command, corresponding to AI1 zero drift
`F4-19`	AI1 minimum-input setting	0.0%–100.0%	Minimum pressure command; default 0.0%
`F4-20`	AI1 maximum input	-	Maximum voltage for pressure command; typically 10 V
`F4-21`	AI1 maximum-input setting	0.0%–100.0%	Maximum pressure command; default 100.0%
`F4-22`	AI1 filter time	0.000s–10.000s	AI1 filter time
`F4-23`	AI2 minimum input	-	Minimum voltage for flow command, corresponding to AI2 zero drift
`F4-24`	AI2 minimum-input setting	0.0%–100.0%	Minimum flow command; default 0.0%
`F4-25`	AI2 maximum input	-	Maximum voltage for flow command; typically 10 V
`F4-26`	AI2 maximum-input setting	0.0%–100.0%	Maximum flow command; default 100.0%
`F4-27`	AI2 filter time	0.000s–10.000s	AI2 filter time
`F4-28`	AI3 minimum input	-	Minimum voltage for pressure feedback, corresponding to AI3 zero drift
`F4-29`	AI3 minimum-input setting	0.0%–100.0%	Minimum pressure feedback; default 0.0%
`F4-30`	AI3 maximum input	-	Maximum voltage for pressure feedback; typically 10 V
`F4-31`	AI3 maximum-input setting	0.0%–100.0%	Maximum pressure feedback; default 100.0%
`F4-33`	AI4 zero-drift correction	-	AI4 zero-drift correction

HMD quick-tuning parameters

The following are common commissioning parameters for the ES610 drive on HMD injection-molding machines:

Parameter	Value	Description
`FP-01`	`1`	Parameter reset
`A3-20`	`1`	AI zero-drift auto-correction
`A3-00`	`5`	CAN5 mode
`A3-01`	`2500`	Max speed
`A3-08`	`20`	Reverse speed
`A3-09`	`0`	Base flow (check base flow/pressure)
`A3-10`	`0`	Base pressure (check base flow/pressure)
`A3-04`	`0.05`	Group-1 pressure-command rise time
`A4-03`	`0.05`	Group-1 flow-command rise time
`A4-10`	`0.001`	Group-2 pressure-command rise S-filter
`A4-11`	`0.001`	Group-2 pressure-command fall S-filter
`A4-12`	`0.001`	Group-2 flow-command rise time
`A4-13`	`0.05`	Group-2 flow-command fall time
`A4-14`	`0.001`	Group-2 pressure-command rise time
`A4-15`	`0.05`	Group-2 pressure-command fall time
`F0-17`	`50 ms`	Acceleration time
`F0-18`	`80–150 ms`	Deceleration time (adjustable)
`F2-00`	`10.0`	Speed-loop parameter
`F2-10`	`180`	Torque upper limit

⚠️

These HMD tuning parameters are for a specific site configuration. Other machine types and operating conditions may need adjustment. Refer to the original manufacturer manual and site requirements.

Recommendations for completing the parameter table

This page already covers the deterministic F0, F1, F2 groups and commonly used A3, A4, and F4 parameters. Because the original PDF tables span pages and the HTML uses absolute positioning, achieving an “item-by-item complete parameter table” is best done later using Excel/Word source tables or manually verified CSV; otherwise setting range, min unit, and factory values may be misaligned across columns.

Troubleshooting Overview