M2DC Series Hardware Manual
118
Rev. 1.1
2018/04
400-820-9661
8.3 Parameter Description
P-00 (KP)
Global gain 1
Data Range
Default
Unit
Data type
0 - 32767
8000
------
DEC
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
Data type
0 - 32767
12000
------
DEC
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
Data type
0~32767
10000
------
DEC
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
Data type
0~32767
2000
------
DEC
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
Data type
0~32767
8000
------
DEC
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.
