3-56 Programming and Parameters
Enhanced Program Group (continued)
E220 [Ki Speed Loop]
Sets the I-Gain used in the PI calculation of the speed loop.
Values Default: 2.0
Min/Max: 0.0/400.0
Display: 0.1
E221 [Kp Speed Loop]
Sets the P-Gain used in the PI calculation of the speed loop.
Values Default: 0.5
Min/Max: 0.0/200.0
Display: 0.1
E222 [Positioning Mode]
Stop drive before changing this parameter.
Defines the positioning transition mode used for the position steps. For additional information refer to
Appendix
F.
Values Default: 0
Min/Max: 0/4
Display: 1
E222 Option Transition Mode Description
0
1
2
3
4
Time Steps
Preset Input
Step Logic
Preset StpL
StpLogic-Lst
Steps based on time.
Preset inputs directly command a given step.
Use Step Logic commands. Always start from Step 0.
Use Preset inputs to determine starting step then Step Logic commands.
Use Step Logic commands from last StepLogic step at last drive stop.
E223 [Find Home Freq]
Sets the maximum frequency the drive uses when “Find Home” is issued. For additional information
refer to Appendix
F.
Values Default: 10.0 Hz
Min/Max: 0.1/500.0 Hz
Display: 0.1 Hz
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