My problem is that when arm executing the arming command, there is a sound but the propeller does not rotate. Do you know what parameter to set to set the spin speed when arm? please help me!

PX4 Autopilot
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Can you try the motors in the Vehicle Setup → Actuator configuration tab?

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My current situation is that when arming with a telemetry device, the blades must rotate at a certain % of speed

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Currently my propeller only rotates when there is a control handle (lifting the throttle lever).

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Right, so the minimum/idle throttle is not set up correctly.

Try the ESC calibration: ESC Calibration | PX4 User Guide (main)

And setting minimum: Actuator Configuration and Testing | PX4 User Guide (main)