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Chapter 7 Servo Parameters|ASDA-B Series
Revision January, 2009 7-11
Gain and Switch
Control
Mode
Parameter Name Function Default Unit
P S T
P2-00 KPP Proportional Position Loop Gain 50 rad/s
{
P2-01 PPR Position Loop Gain Switching Rate 100 %
{
P2-02 PFG Position Feed Forward Gain 0
%
{
P2-03 PFF
Smooth Constant of Position Feed
Forward Gain
5 ms
{
P2-04 KVP Proportional Speed Loop Gain 300 rad/s
{ {
P2-05 SPR Speed Loop Gain Switching Rate 100 %
{ {
P2-06 KVI Speed Integral Compensation 50 rad/s
{ {
P2-07 SFG Speed Feed Forward Gain 0 %
{
P2-26 DST External Anti-Interference Gain 0 N/A
{ { {
P2-27 GCC Gain Switching Control Selection 0 N/A
{ {
P2-28 GUT Gain Switching Time Constant 10
10ms
{ {
P2-29 GPE Gain Switching Condition 10000
pulse
Kpps
rpm
{ {
P2-31■
AUT1
Auto Stiffness and Responsiveness
Level
6 N/A
{ { {
P2-32▲
AUT2
Tuning Mode Selection
0 N/A
{ { {
Explanation of symbols (marked after parameter)
(★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
(●) Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■) Parameter setting values are not retained when power is off.