Moons' MBDV Series - Page 126

126
Rev. 2.0
07/27/2023
MBDV Hardware Manual
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-05 KP 1st position loop gain 52 0 ~ 20000 0.1Hz P S T
Set the proportional gain for position control. 0 means not used, 20000 means the proportional e󰀨ect is maximized. Increasing this
parameter can improve the responsiveness of the system, reduce the position error, and shorten the positioning time.
When the proportional gain of the position loop is too small, the system response will be delayed and position errors will decrease
slowly. If set too high, system vibrations may occur.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-07 KD
1st position loop derivative time
constant
0 0 ~ 30000 ms P S T
◆
Set the position loop di󰀨erential time constant for position control.
◆
0 means no derivative e󰀨ect, the smaller the set value, the stronger the e󰀨ect of the derivative term. When the set value of the
di󰀨erential time constant (KD) is too large, the system's ability to suppress vibration is insu󰀩cient, and obvious oscillation will occur
during the acceleration / deceleration process, the uniform speed process and after the stop, Oscillations will decrease gradually and
eventually stabilize.
◆
When the set value of the di󰀨erential time constant (KD) is reasonable, the system's ability to suppress vibration is signicantly
enhanced, and it tends to stabilize quickly.
◆
When the di󰀨erential time constant (KD) is set too small, the motion system will be too sensitive, easily vibrate and generate noise.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-08 KE 1st position loop derivative lter 20000 0 ~ 40000 0.1Hz P S T
Set the position loop di󰀨erential low-pass lter for position control.
0 means no ltering e󰀨ect. The di󰀨erential control parameters lter frequency. This lter is a simple one-pole, low-pass lter intended
for attenuating high frequency oscillations. This value is a constant that must be calculated from the desired roll o󰀨 frequency.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-09 KL Velocity feedforward gain 10000 -30000 ~ 3000 0.01% P S T
Higher values will reduce system noise and eliminate overshoot, but will reduce the system's dynamic following performance. Lower
values will raise system sti󰀨ness, but may cause system noise.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-10 KR Velocity feedforward lter frequency 20000 0 ~ 40000 0.1Hz P S T
Sets the low-pass ltering for velocity feedforward.
0 means no ltering e󰀨ect.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-11 KF 1st Command Velocity Gain 10000 -30000 ~ 3000 0.01% P S T
The speed command from the position loop control process is multiplied by the ratio of this parameter to the system.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-12 VP 1st velocity loop gain 183 0 ~ 30000 0.1Hz P S T
Proportional gain term used to increase sti󰀨ness of motor response in direct proportion to the velocity error