Chapter 8 Servo Parameters
Revision January 2011 8-21
Gain and Switch
Control Mode
Parameter Name Function Default
Unit
PT PR S T
Related
Section
P2-00 KPP Proportional Position Loop Gain
35 rad/s
O O 6.2.8
P2-01 PPR
Position Loop Gain Switching
Rate
10
0 %
O O 6.2.8
P2-02 PFG Position Feed Forward Gain 50 % O O 6.2.8
P2-03 PFF
Smooth Constant of Position
Feed Fo
rward Gain
5 msec
O O -
P2-04 KVP Proportional Speed Loop Gain 500 rad/s
O O O O 6.3.6
P2-05 SPR
Speed Loop Gain Switching
Rate
10
0 % O O O O -
P2-06 KVI Speed Integral Compensation 100 rad/s
O O O O 6.3.6
P2-07 KVF Speed Feed Forward Gain 0 % O O O O 6.3.6
P2-26 DST External Anti-Interference Gain 0 0.001
O O O O -
P2-27 GCC
Gain Switching Control
Sele
ction
0 N/A
O O O O -
P2-28 GUT Gain Switching Time Constant 10
10
msec
O O O O -
P2-29 GPE Gain Switching Condition
1280000
pulse
Kpps
r/min
O O O O -
5.6
P2-31
AUT1
Speed Frequency Response
Level
in Auto and Semi-Auto
Mode
80 Hz O O O O
6.3.6
5.6
P2-32▲
AUT2
Speed Frequency Response
Level
in Auto and Semi-Auto
Mode
0 N/A
O O O O
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.
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Call 1(800)985-6929 for Sales
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