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SV200 DC Hardware Manual
920-0126A
4/14/2017
8.3 Parameter Description
P-00 (KP)
Global gain 1
Data Range
Default
Unit
LED Display
0 - 32767
8000
------
8000
Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. This
parameter is the primary gain term for minimizing the position error. Larger KP value means higher stiffness, and fast response. However,
if the gain value is too high, it will lead to vibration.
Use input X7 for global gain selection. When the gain selection function is used, it helps the servo drive to run the motor with the
least time delay and as close as possible to the host command requirement. Especially in the case of the load characteristic changing
significantly, change of gain value will reduce the motor’s settling time, motor vibration, etc. It optimizes the motor’s overall performance.
The two global gain parameters are: P-00 (KP), and P-01 (KG).
P-01 (KG)
Global gain 2
Data Range
Default
Unit
LED Display
0 - 32767
12000
------
12000
Sets or requests the secondary servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning
full gain. This parameter is the primary gain term for minimizing the position error. A larger KG value means higher stiffness, and fast
response. However, if the gain value is too high, it will lead to vibration.
P-02 (KF)
Proportion gain
Data Range
Default
Unit
LED Display
0~32767
10000
------
10000
The servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. This parameter is the
primary gain term for minimizing the position error. Increase of KF will increase stiffness and reduce in position time duration. However, it
might cause vibration if gain is too large.
P-03 (KD)
Deriv gain
Data Range
Default
Unit
LED Display
0~32767
2000
------
2000
The servo control differential gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. It works to damp low speed
oscillations.
P-04 (KV)
Damping gain
Data Range
Default
Unit
LED Display
0~32767
8000
------
8000
The servo control proportional gain term of the velocity error. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KV
minimizes the velocity error and vibration in position control mode.
P-05 (KI)
Integrator gain
Data Range
Default
Unit
LED Display
0~32767
150
------
150
The servo control integrator gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. It minimizes (or may even
eliminate) position errors especially when holding position.