Moons' MBDV Series - Page 127

127
Rev. 2.0
07/27/2023
MBDV Hardware Manual
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-13 VI
1st speed loop integral time
constant
189 0 ~ 30000 ms P S T
Set the integral time constant of the speed loop.
0 means no integral e󰀨ect, the smaller the set value, the stronger the integral e󰀨ect.
This integral gain term is used to increase sti󰀨ness and reduce steady-state velocity errors
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-14 KK Acceleration feedforward gain 3000 0 ~ 10000 0.01% P S T
Acceleration feedforward gain in servo control. A value of 0 means that the feedforward is not used, and a value of 10000 means that
the feedforward e󰀨ect is maximized.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-15 KT
Acceleration feedforward lter
frequency
20000 0 ~ 40000 0.1Hz P S T
Low-pass lter for acceleration feedforward gain in servo control. A
value of 0 means that the lter is not used, and
40000 means that the lter e󰀨ect is maximized.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-16 KC
1st command torque lter
frequency
1099 0 ~ 40000 01Hz P S T
Filter the command torque.
The lter is a single-output low-pass lter, which is used to low-pass lter the output of the PID controller (that is, the reference
current). System operation needs to be considered when setting this value.
The smaller the value, the lower the ltering frequency and the more obvious the ltering e󰀨ect. The default value of 1099 works for
most applications. This value can be modied in cases of motor vibrations or abnormal audible noise.
An example use case is when a system is prone to mechanical resonance. The low pass lter cuto󰀨 frequency can be set below the
resonance frequency of the system to prevent the motor control loop from exciting the system into its resonance frequency. In large
inertia applications, increasing KP can help improve the system response but a KP value set too high can induce vibrations. To reduce
those vibrations, this lter's frequency may be reduced.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-17 UP 2nd 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.