Speed Loop Gain; Speed Loop Integral Time Constant; Low-Pass Bandwidth Of Speed Loop; Low-Pass Filter Bandwidth Of Torque Command - BONMET SDL10A User Manual

3． Function
■ Speed loop gain（KP_S; Related parameters: Pn-30，Pn-36）
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the
load condition. In general, larger load inertia needs larger value. If there is no oscillation, the larger the value
is the better the servo system performs.
■ Speed loop integral time constant（TC_S; Related parameters: Pn-31, Pn-37）
The smaller the value is, the greater the stiffness is. The value is determined by the type of servo and the load
condition. In general, larger load inertia needs larger value. Set the parameter as small as possible without
oscillation.
■ Low-pass bandwidth of speed loop（LFP_S; Related parameters: Pn-32, Pn-38）
Normally, smaller value results in slower and smoother speed response. Too small value may cause system
oscillation.
■ Low-pass filter bandwidth of torque command（LFP_C; Related parameters: Pn-33, Pn-39）
Normally, smaller value results in slower and smoother speed response. But too much small value may
cause system oscillation.
■ Position loop proportional gain（KP_P; Related parameters: Pn-44，Pn-66）
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause
overshoot or oscillation. The value is determined by the type and the load of servo drive.
■ Position loop differential proportional gain（Kd; Related parameters: Pn-45，Pn-67）
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause
overshoot or oscillation; This parameter is usually set to zero unless very fast response is required
■ The cut-off frequency of position feed forward filter（FLFP_P; Related parameters: Pn-46，Pn-68）
The filter is used to increase the stability of compound position control. Normally, users do not need to
change the default value.
■ Enhancements of the current loop response（Pn-69）
As requiring higher response, users can use this function to enhance current loop response by set Pn-69 to 1.
It will enhance the of the motor and may cause some noise.
stiffness
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