95
SV200 DC Hardware Manual
920-0126A
4/14/2017
7.3.3.8 Velocity Mode Control Type
In Velocity mode, there are two control types:
1.
Position over time control type
2.
Speed only control type
Both control type and parameters are different, it can be configured by SVX Servo Suite, or parameter P-15(JM)
Parameter Settings
Parameter
Name
Data Range
Default
value
LED
Display
Description
P-15 (JM)
Jog Mode velocity
control mode type
1, 2
2
2
To set velocity mode control type:
1. Postion Over time control mode
2. Speed Only control mode
Setting Via Software
A. Position Over Time control mode
In Position Over Time control mode, velocity control will use position loop gain parameters for speed and position control, i.e.,
Proportional Gain (KF), Derivative Gain (KD), Damping Gain (KV), Integrator Gain (KI), Inertia Feedforward Constant (KK), Follow
Factor (KL), Damping Filter (KE), PID Filter (KC). Servo Tuning is recommended.
Please Refer to Servo Tuning Gain for more details.
B. Speed Only control Mode
In Speed Only control mode, it is only using the PI velocity control loop, parameters are Velocity Loop Proportional Gain (VP), and
Velocity Loop Integral Gain (VI).
Parameter
Name
Data Range
Default
value
LED
Display
Description
P-08 (VP)
Velocity Loop
Proportional Gain
0~32767
15000
15000 To set velocity loop proportional gain in speed
only control mode
P-09 (VI)
Velocity Loop
Integral Gain
0~32767
1000
1000
To set velocity loop Integral gain in speed only
control mode