Chapter 7 Servo Parameters
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ASDA-A&A+ Series
Revision April 2009
7-51
Group 2: P2-xx Extension Parameters
P2 - 00
KPP
Proportional Position Loop Gain
Communication Addr.: 0200H
Default: 35
Related Section:
Applicable Control Mode: Pt, Pr
Section 6.2.8
Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise.
P2 - 01
PPR
Position Loop Gain Switching Rate
Communication Addr.: 0201H
Default: 100
Related Section: N/A
Applicable Control Mode: Pt, Pr
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the position gain switching rate when the gain switching condition
is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29
for gain switching condition settings.
P2 - 02
PFG
Position Feed Forward Gain
Communication Addr.: 0202H
Default: 5000
Related Section:
Applicable Control Mode: Pt, Pr
Section 6.2.8
Unit: 0.0001
Range: 10 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system. However, if the setting value is over high, it may generate vibration or
noise.
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