Chapter 8 Servo Parameters
Revision January 2011 8-77
Group 2: P2-xx Extension Parameters
P2 - 00
KPP Proportional Position Loop Gain Address: 0200H, 0201H
Default: 35 Related Section:
Applicable Control Mode: PT, PR Section 6.2.8
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite
position loop response and reduce position error. However, if the setting value is over
high, it may generate vibration or noise.
P2 - 01
PPR Position Loop Gain Switching Rate Address: 0202H, 0203H
Default: 100 Related Section:
Applicable Control Mode: PT, PR Section 6.2.8
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position gain switching rate when the gain switching
condition is satisfied. Please refer to P2-27 for gain switching control selection settings
and refer to P2-29 for gain switching condition settings.
P2 - 02
PFG Position Feed Forward Gain Address: 0204H, 0205H
Default: 50 Related Section:
Applicable Control Mode: PT, PR Section 6.2.8
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the feed forward gain when executing position control
command. When using position smooth command, increase gain can improve position
track deviation. When not using position smooth command, decrease gain can improve
the resonance condition of mechanical system.
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