Specifications

PSU - 4 Positioning Drive Setup Ver. 0002
PSU.3 PROPORTIONAL CONTROL
It is the basic element of the position loop. Its function at the drive is the same as that of CNC
parameter "PROGAIN" (P23) .
Proportional gain setting.
The gain is given at the drive by parameter:
PP104 -S104- PositionKvGain
It is given in m/min of programmed velocity command per mm of following error.
Examples:
S104=1 means that to a programmed feedrate of 1000 mm/min (F1000 at the CNC),
corresponds a following error of 1 mm.
S104=2 at F1000, the following error will be 0.5 mm.
For a following error of 5 microns at F2000, Kv will be
2/0.005, that is: S104=400
Set this parameter depending on the following error desired for a given feedrate.
Experience shows that most machines behave fine with a proportional gain of S104=1.