Chapter 7 Parameters
To set control method:
0: position control mode
1: speed control mode
2: torque control mode
3:position + speed control mode
4:position + torque control mode
5:speed + torque control mode
6:encoder zeroing mode
Proportional
gain of speed
loop
1.Set the proportional gain of speed loop.
2.The value is bigger, the gain is higher and
rigidity is stronger. The parameter value is set
according to your exact servo driving system
model and the load. Generally, the greater the
load inertia, the bigger the value.
3.Please set a little high value if the system
condition does not generate oscillation.
1.To set the integral time constant of the speed loop
regulator.
2.The value is smaller, the integral speed is faster
and the servo rigidity is stronger.But if it is too
small, it will happen over controlling.
1.To set the characters of torque command filter.
2.To suppress resonance generated by torque.
3.The value is smaller, the cut-off frequency is
lower and vibration with noise generated by the
motor is less. If the load inertia is great, reducing
the setting value is recommended. If the value is
too small, it would lead to low response, which
would result in shaking.
4.The value is bigger, the cut-off frequency is
higher and the response frequency is quicker. If
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