Sanyo SUPER BL P5 - Parameter List

7. EXPLANATION OF PARAMETERS
7-31
7.2.3 Parameter List
Mode
Page Abbre-vi
ation
Name and description
Standard
value
Unit
Setting
range
Remarks
9 0 to
7
Kp0 to
Kp7
Position loop gain
• Proportional gain of the position controller.
45
(30)
rad/s 1 to
1000
Position control
8 to
15
Kff0 to
Kff7
Position loop feed forward gain
• Feed forward gain of the position loop.
• When this parameter is set at 100%, the
number of waiting pulses becomes 0 at
constant-speed operation.
• Response of the position loop can be
improved. However, if the value is increased
too much, vibration may result.
0 % 0 to
100
Position control
×Kff
KP
16 to
23
Kvp0
to
Kvp7
Velocity loop proportional gain
• Proportional gain of the velocity controller
(proportional integral control).
The setting unit indicates the value when the
load inertia is 0.
100
(70)
Hz 10 to
3000
Position and
velocity control
Values in parentheses are applicable to motors of other than P3 and P5 series.
θi
+
+
Position
command
+
+
dθi
Position loop
gain KP
Position feedback
×
Kff
dt