Xinje DS3 series servo, User Manual, Page: 108 / 152

106
Group two:
P1-05
Second Speed loop gain (Kp)
Unit Default Range Suitable mode Modify Effective
1Hz 100 1~9999 3, 4, 6, 7, 10 Any Immediately
P1-06 Second Speed loop integral time constant (Ki)
Unit Default Range Suitable mode Modify Effective
0.1ms 400 0~10000 3, 4, 6, 7, 10 Any Immediately
To set the speed loop gain larger and the speed integral time constant smaller can realize high response
speed controlling. But servo will restrict by machine performance.
It will cancel the integral function when integral time constant is 0 or 10000. It will keep the integral
when integral time constant is 9999.
6-1-2. Other parameters
Speed feedforward:
P1-03 First speed feedback response level
Unit Default Range Suitable mode Modify Effective
Hz 1000 0~4000 All the modes Any Immediately
The larger the response level, the faster the response speed, but it will show vibration for low speed
running, at this time please decrease P1-03.
P1-04
First torque command filter time constant
Unit Default Range Suitable mode Modify Effective
0.01ms 0 0~9999 All the modes Any Immediately
Function: the larger the filter time, the smoother it is, but the response will delay
P1-07
Second Position loop gain
（
Kp
）
Unit Default Range Suitable mode Modify Effective
1/s 100 1~9999 6, 10 Any Immediately
P1-08 Second speed feedback response level
Unit Default Range Suitable mode Modify Effective
Hz 1000 0~4000 All the modes Any Immediately
The larger the response level, the slower the response speed, more stable
P1-09
Second torque command filter time constant
Unit Default Range Suitable mode Modify Effective
0.01ms 0 0~9999 All the modes Any Immediately
Function: the larger the filter time, the smoother it is, but the response will delay
P1-10 Speed feedforward gain (Kp)
Unit Default set Range Suitable mode Change Effective
1% 0 0~300 6, 10 Any At once
Increase this parameter can improve the rigidity, but it maybe overshoot.
P1-11 Speed feedforward filter time
Unit Default set Range Suitable mode Change Effective
0.01ms 50 0~10000 6, 10 Any At once
Speed
command
Kp（1+ ）
1
KiS
+
-
Speed feedback
Speed loop gain