Moons' MBDV Series - Gain Parameter in Position Mode

76
Rev. 2.0
07/27/2023
MBDV Hardware Manual
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Position arrival P-COIN judgment condition
When the actual position is equal to the setting of parameter P5-46, the output position reaches the
P-COIN signal. The uctuation range is
±
100pulses.
Actual Position
Parameters (P5-46)
(P5-46)+100pulses
(P5-46)-100pulses
Position Reached Output
Time
No Output No Output
Output
7.2.5 Gain parameter in position mode
In position mode, application appropriate gain parameters can make the servo system run
more smoothly and accurately, and have excellent positioning performance. The following gain
parameters in position mode can be automatically adjusted using Luna.
Parameter Command Parameter name Type Defaults Unit
P0-05 KP 1st position loop gain
First set of
gains
52 0.1Hz
P0-07 KD 1st position loop derivative time constant 0 ms
P0-08 KE 1st position loop derivative lter 20000 0.1Hz
P0-11 KF 1st velocity command gain 10000 0.01%
P0-12 VP 1st velocity loop gain 183 0.1Hz
P0-13 VI 1st speed loop integral time constant 189 ms
P0-16 KC 1st command torque lter frequency 1099 0.1Hz
P0-17 UP 2nd position loop gain
Second set of
gains
52 0.1Hz
P0-19 UD 2nd position loop derivative time constant 0 ms
P0-20 UE 2nd position loop derivative time constant 20000 0.1Hz
P0-21 UF 2nd velocity command gain 10000 0.01%
P0-22 UV 2nd velocity loop gain 183 0.1Hz
P0-23 UG 2nd velocity loop integral time constant 189 ms
P0-24 UC 2nd command torque lter frequency 1099 0.1Hz
P0-33 SD Automatic gain switching method - 0
P0-34 PN Gain switching condition - position error - 0 pulses
P0-35 VN Gain switching condition - actual velocity - 0 rps
P0-36 TN Gain switching condition - actual torque - 10 0.1%
P0-37 SE1 Delay time - 2nd Group Gains to 1st Group Gains - 10 ms
P0-38 SE2 Delay time - 1st Group Gains to 2nd Group Gains - 0 ms