Moons' M2DV-1D82D - Page 124

M Series AC Servo
User Manual
124
Rev. 1.1
9/13/2021
400-820-9661
P-08 (VP) Velocity Loop Proportional Gain
Data Range Default Unit Data type
0~32767 15000 ------ DEC
The velocity-mode servo control Proportional gain term. Gain value is relative: 0 = no gain, 32767 = full
gain. VP minimizes velocity error when in velocity mode 2.
P-09 (VI) Velocity Loop Integral Gain
Data Range Default Unit Data type
0~32767 1000 ------ DEC
The velocity-mode (
“
JM2
”
) servo control integrator gain term. Gain value is relative: 0 = no gain, 32767 =
full gain. VI minimizes steady state velocity errors.
P-10 (KE) Deriv Filter factor
Data Range Default Unit Data type
0~32767 15000 ------ DEC
The di󰀨erential control parameters lter frequency. The lter is a simple one-pole, low-pass lter intended
for attenuating high frequency oscillations. The value is a constant that must be calculated from the
desired roll o󰀨 frequency.
P-11 (KC) PID Filter factor
Data Range Default Unit Data type
0~32767 25000 ------ DEC
The servo control overall lter frequency. The lter is a simple one-pole, low-pass lter intended for
attenuating high frequency oscillations. The value is a constant that must be calculated from the desired
roll o󰀨 frequency.