Position proportional gain
1. Set the proportional gain of the position loop regulator;
2. The larger the setting value, the higher the gain, the greater the stiffness, and under the same frequency command pulse conditions, the position lag will be smaller. However, if the value is too large, it may cause oscillation or overshoot;
3. The parameter value is determined by the specific servo system model and load conditions.
Position feedforward gain
1. Set the feedforward gain of the position loop;
2. The larger the setting value, the smaller the position lag under any frequency command pulse;
3. A larger feedforward gain of the position loop improves the high-speed response characteristics of the control system, but it will make the system position unstable and prone to oscillation;
4. When the required response characteristics are not very high, this parameter is usually set to 0 within the range: 0 – 100%.
Speed proportional gain
1. Set the proportional gain of the speed regulator;
2. The larger the setting value, the higher the gain, the greater the stiffness. The parameter value is determined according to the specific servo drive system model and load value conditions. Generally, the larger the load inertia, the larger the setting value;
3. Under the condition that the system does not produce oscillation, try to set a larger value.
Speed integral time constant
1. Set the integral time constant of the speed regulator;
2. The smaller the setting value, the faster the integral speed. The parameter value is determined according to the specific servo drive system model and load conditions. Generally, the larger the load inertia, the larger the setting value;
3. Under the condition that the system does not produce oscillation, try to set a smaller value.
Speed feedback filtering factor
1. Set the low-pass filter characteristics of the speed feedback;
2. The larger the value, the lower the cutoff frequency, and the less noise generated by the motor. If the load inertia is very large, the setting value can be appropriately reduced. If the value is too large, the response will be slower and may cause oscillation;
3. The smaller the value, the higher the cutoff frequency, and the faster the speed feedback response. If a higher speed response is required, the setting value can be appropriately reduced.
Maximum output torque setting
1. Set the internal torque limit value of the servo motor;
2. The setting value is a percentage of the rated torque;
3. At any time, this limit is valid for the positioning range;
4. The pulse range for positioning completion in the position control mode;
5. This parameter provides the basis for the driver to determine whether positioning is completed in the position control mode. When the remaining pulse count in the position deviation counter is less than or equal to the setting value of this parameter, the driver considers positioning complete, the到位 switch signal is ON， otherwise it is OFF；
6. In the position control mode， output the position completion signal， acceleration and deceleration time constant；
7. The setting value represents the acceleration time or deceleration time of the motor from 0 – 2000 r/min or from 2000 – 0 r/min；
8. The acceleration and deceleration characteristics are linear to the speed range；
9. Set the reaching speed；
10. In non-position control mode， if the motor speed exceeds this setting value， the speed reaching switch signal is ON， otherwise it is OFF；
11. In position control mode， this parameter is not used；
12. Independent of the rotation direction.