Instruction Manual

Parameter Menu • Gains/Limits 39
Publication 1398-PM601A-EN-P — October 2000
MENUS
Gains/Limits
Gains are used to adjust both the velocity and position loop performance. The velocity loop gains
should be set up first, and then the position loop gains can be set. Change gains with care as excessive
settings on any gain can result in motor instability.
After changing any Gain values, choose OK to store the new values and close the dialog box, choose
Update to store the new values, but still leave the Gains/Limits dialog box displayed or choose Cancel
to leave the dialog box without saving changes. The new values are not active until OK or Update is
selected.
Name Description Detail Reference
FILTER Select the FILTER ON check box to enable
the low pass filter on the output of the
velocity regulator.
Part 5
Language Reference
FILTER
PGAIN PGAIN is the proportional gain of the
velocity regulator.
Part 5
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PGAIN
IGAIN IGAIN is the velocity regulator integral
gain.
Part 5
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IGAIN
FGAIN FGAIN is the acceleration feedforward
gain.
Part 5
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FGAIN
KP KP is the position regulator proportional
gain.
Part 5
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KP
KPZ KPZ is the position regulator proportional
gain used when the system is within the
region of the commanded position defined
by PZONE.
Part 5
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KPZ
PZONE PZONE is the region around the com-
manded position where the position loop
proportional gain is changed to the gain set
by the KPZ parameter.
Part 5
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PZONE
KFF KFF is the velocity feedforward gain. Part 5
Language Reference
KFF
KI KI is the position regulator integral gain. Part 5
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KI
IZONE IZONE is the region around the com-
manded position where the position loop
integral gain is active.
Part 5
Language Reference
IZONE
In-Position
Window
In-Position Window defines the maximum
position error that is used to determine if the
motor is In-Position.
Part 5
Language Reference
WIN