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Chapter 7 Servo Parameters
Parameter
Name
P2-00
KPP
Proportional Position Loop Gain
Position Loop Gain Switching
P2-01
PPR
Rate
P2-02
PFG
Position Feed Forward Gain
Smooth Constant of Position
P2-03
PFF
Feed Forward Gain
P2-04
KVP
Proportional Speed Loop Gain
Speed Loop Gain Switching
P2-05
SPR
Rate
P2-06
KVI
Speed Integral Compensation
P2-07
KVF
Speed Feed Forward Gain
P2-26
DST
External Anti-interference Gain
Gain Switching Control
P2-27
GCC
Selection
P2-28
GUT
Gain Switching Time Constant
P2-29
GPE
Gain Switching Condition
Speed Frequency Response
P2-31
AUT1
Level in Auto and Semi-Auto
Mode
P2-32▲
AUT2
Tuning Mode Selection
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.
Parameter
Name
Control Mode and Output
P1-01
CTL
Direction
P1-02▲
PSTL
Speed and Torque Limit
7-4
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VARITEL INGENIERIA ELECTRONICA S.A.
Gain and Switch
Function
Position Control
Function
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
Control Mode
Default
Unit
PT
pulse
0
r/min
O
N-M
0
N/A
O
ASDA-B2
Related
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
Related
Section
S
T
O
O
6.1
O
O
6.6
Revision September 2013
- Quick Links:
- Chapter 7 Parameters
- Fault Messages Table
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