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Chapter 7 Parameters
Parameter
Abbr.
P2-00
KPP Position Loop Gain
P2-01
PPR
P2-02
PFG Position Feed Forward Gain
P2-03
PFF
P2-04
KVP Speed Loop Gain
P2-05
SPR
P2-06
KVI
P2-07
KVF
P2-26
DST Anti-interference Gain
P2-27
GCC
P2-28
GUT
P2-29
GPE Gain Switching
P2-31
AUT1
P2-32▲
AUT2 Tuning Mode Selection
Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc.
(★)
Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(▲)
Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
()
P3-00.
Volatile parameters, e.g. parameter P2-30 and P3-06
()
7-4
Gain and Switch Parameter
Function
Switching Rate of Position
Loop Gain
Smooth Constant of Position
Feed Forward Gain
Switching Rate of Speed
Loop Gain
Speed Integral Compensation
Speed Feed Forward Gain
Gain Switching and Switching
Selection
Gain Switching Time
Constant
Speed Loop Frequency
Response Setting in Auto and
Semi-auto Mode
Control Mode Related
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
.
ASDA-B2
Section
S
T
6.2.5
6.2.5
6.2.5
-
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 May, 2018
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Troubleshooting
