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Chapter 7 Servo Parameters
Parameter
Name
P2-00
KPP
P2-01
PPR
P2-02
PFG
P2-03
PFF
P2-04
KVP
P2-05
SPR
P2-06
KVI
P2-07
KVF
P2-26
DST
P2-27
GCC
P2-28
GUT
P2-29
GPE
P2-31
AUT1
P2-32▲
AUT2
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
( )
Parameter is effective only after the servo drive is restarted (after switching power off and
on).
( )
Parameter setting values are not retained when power is off.
7-4
Gain and Switch
Function
Proportional Position Loop Gain
Position Loop Gain Switching
Rate
Position Feed Forward Gain
Smooth Constant of Position
Feed Forward Gain
Proportional Speed Loop Gain
Speed Loop Gain Switching Rate
Speed Integral Compensation
Speed Feed Forward Gain
External Anti-Interference Gain
Gain Switching Control
Selection
Gain Switching Time Constant
Gain Switching Condition
Speed Frequency Response
Level in Auto and Semi-Auto
Mode
Tuning Mode Selection
Control Mode
Default
Unit
PT
35
rad/s
O
100
%
O
50
%
O
5
ms
O
500
rad/s
O
100
%
O
100
rad/s
O
0
%
O
0
0.001
O
0
N/A
O
10
10ms
O
pulse
1280000
Kpps
O
r/min
80
Hz
O
0
N/A
O
Related
Section
S
T
6.2.8
6.2.8
6.2.8
-
O
O
6.3.6
O
O
-
O
O
6.3.6
O
O
6.3.6
O
O
-
O
O
-
O
O
-
O
O
-
5.6
O
O
6.3.6
5.6
O
O
6.3.6
Revision June 2010
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