# Menu 3 Single Line Descriptions − Speed Control and Position Feedback

Mode: RFC‑S

Parameter | Range | Default | Type
--- | --- | --- | ---
03.001 | Final Speed Reference | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.002 | Speed Feedback | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.003 | Speed Error | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.004 | Speed Controller Output | ±VM_TORQUE_CURRENT % |  | RO | Num | ND | NC | PT | FI
03.005 | Zero Speed Threshold | 0 to 200 | 5 | RW | Num |  |  |  | US
03.006 | At Speed Lower Limit | 0 to 33000 | 5 | RW | Num |  |  |  | US
03.007 | At Speed Upper Limit | 0 to 33000 | 5 | RW | Num |  |  |  | US
03.008 | Over Speed Threshold | 0 to 40000 | 0 | RW | Num |  |  |  | US
03.009 | Absolute At Speed Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.010 | Speed Controller Proportional Gain Kp1 | 0.0000 to 200.0000 s/rad | 0.0100 s/rad | RW | Num |  |  |  | US
03.011 | Speed Controller Integral Gain Ki1 | 0.00 to 655.35 s²/rad | 0.05 s²/rad | RW | Num |  |  |  | US
03.012 | Speed Controller Differential Feedback Gain Kd1 | 0.00000 to 0.65535 1/rad | 0.00000 1/rad | RW | Num |  |  |  | US
03.013 | Speed Controller Proportional Gain Kp2 | 0.0000 to 200.0000 s/rad | 0.0100 s/rad | RW | Num |  |  |  | US
03.014 | Speed Controller Integral Gain Ki2 | 0.00 to 655.35 s²/rad | 0.05 s²/rad | RW | Num |  |  |  | US
03.015 | Speed Controller Differential Feedback Gain Kd2 | 0.00000 to 0.65535 1/rad | 0.00000 1/rad | RW | Num |  |  |  | US
03.016 | Speed Controller Gain Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.017 | Speed Controller Set‑up Method | Disabled (0), Bandwidth (1), Comp Angle (2), Kp Gain Times 16 (3), Low Performance (4), Std Performance (5), High Performance (6), First Order (7) | Disabled (0) | RW | Txt |  |  |  | US
03.018 | Motor And Load Inertia | 0.00000 to 1000.00000 kgm² | 0.00000 kgm² | RW | Num |  |  |  | US
03.019 | Compliance Angle | 0.0 to 360.0 ° | 4.0 ° | RW | Num |  |  |  | US
03.020 | Bandwidth | 5 to 1000 Hz | 10 Hz | RW | Num |  |  |  | US
03.021 | Damping Factor | 0.0 to 10.0 | 1.0 | RW | Num |  |  |  | US
03.022 | Hard Speed Reference | ±VM_SPEED_FREQ_REF | 0.0 | RW | Num |  |  |  | US
03.023 | Hard Speed Reference Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.075 | Initialise Position Feedback | Off (0) or On (1) | Off (0) | RW | Bit |  | NC |  |
03.076 | Position Feedback Initialized | 0000000000 to 1111111111 | 0000000000 | RO | Bin |  | NC | PT |
03.078 | Sensorless Mode Active | Off (0) or On (1) |  | RO | Bit | ND | NC | PT |
03.079 | Sensorless mode filter | 4 (0), 8 (1), 16 (2), 32 (3), 64 (4) ms | 4 (0) ms | RW | Txt |  |  |  | US
03.080 | Sensorless Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |

RW | Read / Write | RO | Read-only | Bit | Bit parameter | Txt | Text string | Date | Date parameter | Time | Time parameter
Chr | Character parameter | Bin | Binary parameter | IP | IP address | Mac | MAC address | Ver | Version number | SMP | Slot, menu, parameter
Num | Number parameter | DE | Destination | ND | No default value | RA | Rating dependent | NC | Non-copyable | PT | Protected
FI | Filtered | US | User save | PS | Power-down save |  |  |  |  |  |