119
Rev. 1.1
2018/04
400-820-9661
M2DC Series Hardware Manual
P-05 (KI)
Integrator gain
Data Range
Default
Unit
Data type
0~32767
150
------
DEC
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.
P-06 (KK)
Inertia Feedforward Constant
Data Range
Default
Unit
Data type
0~32767
0
------
DEC
The servo control inertia feed forward gain. Gain value is relative: “0” meaning no gain, “32767” meaning
full gain. KK improves acceleration control by compensating for the load inertia.
Without KK parameter, Inertia Feedforward Constant.
Red Line (Dash) : Actual velocity
Green Line (Filled) : Position error
With KK parameter, Inertia Feedforward Constant.
Red Line (Dash) : Actual velocity
Green Line (Filled) : Position error
P-07 (KJ)
Jerk Filter Frequency
Data Range
Default
Unit
Data type
0~5000
5000
------
DEC
This parameter sets the jerk filter frequency in Hz . The lower the frequency value the more pronounced
the S-curve profile will be. Setting the value to 0 will disable the filter.
S-curve acceleration/deceleration ramps are beneficial in positioning systems where instantaneous
changes in speed may cause the load to jerk excessively. One example is when the load is connected
to the motion actuator via a long movement arm. If the arm is not sufficiently rigid, changes in speed
at the actuator can result in undesirable oscillations and increased settling time at the load. Smoothed
transitions in speed changes can alleviate this unwanted motion and reduce settling time.
Command
Time
Command
Time
Without Jerk Smoothing Filter
With Jerk Smoothing Filter
