Moons' MBDV Series - Page 128

128
Rev. 2.0
07/27/2023
MBDV Hardware Manual
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-19 UD
2nd position loop di󰀨erential 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 (UD) 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 (UD) 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 (UD) is set too small, the motion system will be too sensitive, easily vibrate and generate noise.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-20 UE 2nd 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
P0-21 UF 2nd velocity command 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
P0-22 UP 2nd velocity loop gain 183 0 ~ 30000 0.1Hz P S T
Set the proportional gain of the speed loop. In order to improve the overall response of the servo system, it is necessary to increase
the speed loop gain value. Setting the value too high will cause vibration.
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-23 UI
1st velocity 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