Moons' M2DV-1D82D - Parameter Description

M Series AC Servo
User Manual
122
Rev. 1.1
9/13/2021
400-820-9661
8.3 Parameter Description
P-00 (KP) Global gain 1
Data Range Default Unit Data type
0~32767 10000 ------ DEC
Sets or requests the servo control proportional gain term. Gain value is relative:
“
0
”
meaning no gain,
“
32767
”
meaning full gain. This parameter is the primary gain term for minimizing the position error. Larger KP value means
higher sti󰀨ness, and fast response. However, if gain value is too high, it will leads to vibration.
Use input X7 for global gain selection. When gain selection function is used, it helps the servo drive to run the motor
with least time delay and as faithful as possible against the host command requirement. Especially in the cases, when
load characteristic changes signicantly, change o󰀨 gain value will reduce motor
’
s settleing time, motor vibration and
so on. It will highly optimize motor’s overall performance. The two global gain parameters are: P-00 (KP), and P-01
(KG).
P-01 (KG) Global gain 2
Data Range Default Unit Data type
0~32767 12000 ------ DEC
Sets or requests the secondary servo control proportional gain term. Gain value is relative:
“
0
”
meaning no gain,
“
32767
”
meaning full gain. This parameter is the primary gain term for minimizing the position error. Larger KP value
means higher sti󰀨ness, and fast response. However, if gain value is too high, it will leads to vibration.
P-02 (KF) Proportion gain
Data Range Default Unit Data type
0~32767 10000 ------ DEC
The servo control proportional gain term. Gain value is relative:
“
0
”
meaning no gain,
“
32767
”
meaning
full gain. This parameter is the primary gain term for minimizing the position error. Increase of KF will
increase sti󰀨ness and reduce in position time duration. However, it might cause vibration if gain is too large.
P-03 (KD) Deriv gain
Data Range Default Unit Data type
0~32767 3000 ------ DEC
The servo control di󰀨erential gain. Gain value is relative:
“
0
”
meaning no gain,
“
32767
”
meaning full gain. It works to
damp low speed oscillations.
P-04 (KV) Damping gain
Data Range Default Unit Data type
0~32767 10000 ------ DEC
The servo control Proportional gain term of the velocity error. Gain value is relative: 0 = no gain, 32767 = full gain. KV
minimizes the velocity error, and vibration in position control mode.
P-05 (KI) Integrator gain
Data Range Default Unit Data type
0~32767 500 ------ DEC
The servo control integrator gain term. Gain value is relative:
“
0
”
meaning no gain,
“
32767
”
meaning full gain. It
minimizes (or may even eliminate) position errors especially when holding position.