Servotronix CDHD2, Manual

Page: 16 / 44

CDHD2
16 Operator Panel (HMI)
Parameter Description Code
GEARFILTVELFF Gear Filter Velocity Feedforward P 1 1 0 8
GEARFILTAFF Gear Filter Acceleration FF P 1 1 0 9
Linear Loop Gains Starting at index 1200
KVP Velocity Proportional Gain P 1 2 0 0
KVI Velocity Integral Gain P 1 2 0 1
KVFR Velocity Feedforward Ratio P 1 2 0 2
FILTMODE Velocity Loop Output Filter Mode P 1 2 0 3
FILTHZ1 Velocity Loop Output Filter Param 1 P 1 2 0 4
FILTHZ2 Velocity Loop Output Filter Param 2 P 1 2 0 5
VELFILTMODE Velocity Filter Mode P 1 2 0 6
KPP Position Proportional Gain P 1 2 0 7
KPI Position Integral Gain P 1 2 0 8
KPISATIN Position Integral Saturation Input P 1 2 0 9
KPISATOUT Position Integral Saturation Output P 1 2 1 0
KPD Position Derivative Gain P 1 2 1 1
KPE Position Adaptive Proportional Gain P 1 2 1 2
KPVFR Position Velocity Feedforward P 1 2 1 3
KPAFRC Position Acc FF to Current Loop P 1 2 1 4
KPAFRV Position Acceleration Feedforward P 1 2 1 5
Current Loop Gains Starting at index 1300
KCP Current KP Gain P 1 3 0 0
KCI Current KI Gain P 1 3 0 1
KCD Dead Time Compensation Min Level P 1 3 0 2
KCFF Current KFF Gain P 1 3 0 3
KCBEMF Current BEMF Compensation Gain P 1 3 0 4
KCMODE Current Loop Compatibility Mode P 1 3 0 5
MLGAINP Adaptive Gain at Peak Motor Current P 1 3 0 7
MLGAINC Adapt Gain at Continuous Motor Current P 1 3 0 8
MTANGLC Torque Angle at Motor Continuous Current P 1 3 0 8
MTANGLP Torque Angle at Motor Peak Current P 1 3 0 9
FRICINEG Friction Compens Negative Current P 1 3 1 0
FRICIPOS Friction Compens Positive Current P 1 3 1 1
FRICNVHYST Friction Compens Neg Vel Hysteresis P 1 3 1 2
FRICPVHYST Friction Compens Neg Vel Hysteresis P 1 3 1 3
I Motor Current P 1 3 1 4
ICMD Current Command P 1 3 1 5
ID Current D Axis P 1 3 1 6
IFFLPFHZ Current Feedforward Low Pass Filter P 1 3 1 7