Chapter 7 Servo Parameters
ASDA-B2
7-4
Revision September 2013
Gain and Switch
Parameter
Name
Function
Default
Unit
Control Mode
Related
Section
PT
S
T
P2-00
KPP
Proportional Position Loop Gain
35
rad/s
O
6.2.5
P2-01 PPR
Position Loop Gain Switching
Rate
100 % O
6.2.5
P2-02
PFG
Position Feed Forward Gain
50
%
O
6.2.5
P2-03 PFF
Smooth Constant of Position
Feed Forward Gain
5 ms
O
-
P2-04
KVP
Proportional Speed Loop Gain
500
rad/s
O
O
O
6.3.6
P2-05 SPR
Speed Loop Gain Switching
Rate
100 % O O O
-
P2-06
KVI
Speed Integral Compensation
100
rad/s O
O
O
6.3.6
P2-07
KVF
Speed Feed Forward Gain
0
%
O
O
O
6.3.6
P2-26 DST External
Anti-interference
Gain
0 0.001
O O O
-
P2-27 GCC
Gain Switching Control
Selection
0 N/A
O O O
-
P2-28
GUT
Gain Switching Time Constant
10
10ms
O
O
O
-
P2-29
GPE
Gain Switching Condition
1280000
pulse
Kpps
r/min
O O O
-
P2-31 AUT1
Speed Frequency Response
Level in Auto and Semi-Auto
Mode
80 Hz O O O
5.6
6.3.6
P2-32
▲
AUT2 Tuning Mode Selection
0
N/A
O
O
O
5.6
6.3.6
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.
Position Control
Parameter
Name
Function
Default
Unit
Control Mode
Related
Section
PT
S
T
P1-01
CTL
Control Mode and Output
Direction
0
pulse
r/min
N-M
O O O 6.1
P1-02
▲
PSTL Speed and Torque Limit
0
N/A
O
O
O
6.6
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