7 MCM Parameters
7 - 45
Fig 7.6
MCM# 690~700 System Reserved
701. X-axis, Position gain.
702. Y-axis, Position gain.
703. Z-axis, Position gain.
704. A-axis, Position gain.
705. B-axis, Position gain.
706. C-axis, Position gain.
707. U-axis, Position gain.
708. V-axis, Position gain.
709. W-axis, Position gain.
Format (Default=64) Setting Range: 8~640
Parameters 701~709 are used to set the loop gain. The recommended value is 64.
This setting value is essential to the smooth operation of the motor. Once it is
configured, please do not change it arbitrarily.
Fig 7-7 Driver output voltage vs. the servo error
The position gain and HUST H6D/H9D output voltage command can be
calculated as follows:
Position Gain =
Setting value
64
15
10
5
25
30
20 15 25
Y
X
P1
P2
P3
60
35
1024 2046
4096
Servo erro
(ERROR COUNT
N=128/64 N=64/64 N=32/64
DC10V
VCMD
Driver output
voltage
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