50
BONMET motion GmbH/www.bonmet.com/www.bonmet.de
Pn-30
Parameter
The first speed loop proportional gain
（
PID1
）
Modbus address
0x125D
Unit
－
Range
0~1000
Default
－
CANbus object
0x225D.0
Attrib
R/W
Control mode
：
All
Details
：
This parameter is used to set the first speed loop proportional gain, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the load condition. In
general, larger load inertia needs larger value. If there is no oscillation, the higher the value is the better the servo system performs.
Note
：
For different motor, the default value is different.
Pn-31
Parameter
The first speed loop integral time constant
（
PID1
）
Modbus address
0x125E
Unit
－
Range
1~8000
Default
－
CANbus object
0x225E.0
Attrib
R/W
Control mode
：
All
Details
：
This parameter is used to set the first speed loop integral time constant, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
The smaller the value, the greater the stiffness. The value is determined by the type of servo and the load condition. In general, larger
load inertia needs larger value. Set the parameter as small as possible without oscillation.
Note
：
For different motor, the default value is different.
Pn-32
Parameter
The first low-pass bandwidth of speed loop
（
PID1
）
Modbus address
0x125F
Unit
Hz
Range
1~1500
Default
400
CANbus object
0x225F.0
Attrib
R/W
Control mode
：
All
Details
：
This parameter is used to set the first low-pass bandwidth of speed loop, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8for gain switching function.
Normally, smaller value results in slower and smoother speed response. Too small value may cause system oscillation.
Pn-33
Parameter
The first low-pass filter bandwidth of torque
command
（
PID1
）
Modbus address
0x1260
Unit
Hz
Range
10~12000
Default
1000
CANbus object
0x2260.0
Attrib
R/W
Control mode
：
All
Details
：
This parameter is used to set the first low-pass filter bandwidth of torque command, customers can switch it from the second
speed loop proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
Normally, smaller value results in slower and smoother speed response. But too much small value may cause system oscillation.
Pn-34
Parameter
Acceleration time in speed control
Modbus address
0x1261
Unit
10ms
Range
0~1000
Default
0
CANbus object
0x2261.0
Attrib
R/W
Pn-35
Parameter
Deceleration time in speed control
Modbus address
0x1262
Unit
10ms
Range
0~1000
Default
0
CANbus object
0x2262.0
Attrib
R/W
Control mode
：
Speed control mode
Details
：
These two parameters are used to set the acceleration time and deceleration time from 0rpm to 1000rpm.
Note
：
It is suggested that set Pn-34 and Pn-35 to 0 in position control mode.
