1. Position feedforward gain: set the feedforward gain of the positioning loop. The larger the set value is, the smaller the position delay isand the larger the feedforward gain of the position loop is, the high-speed response of the control system will rise, but the position of the system is unstable and prone to oscillation. When high response characteristics are not required, this parameter is usually set to 0, indicating the range of 0 ~ 100%.

  2. Position proportional gain: set the proportional gain of the position loop regulator. The larger the setting value is, the higher the gain is and the greater the stiffness is. Under the condition of the same frequency command pulse, the smaller the position lag is. But if the value is too large, it may cause oscillation or overshoot. The parameter value depends on the specific servo driver system model and load.

  3. Speed integral time constant: set the integral time constant of speed regulator. The smaller the setting value is, the faster the integration speed is. The parameter value is determined according to the specific servo drive system model and load. In general, the larger the load inertia is, the larger the set value is. Under the condition that the system does not produce oscillation, try to set a smaller value.

  4. Speed proportional gain: set the proportional gain of speed regulator. The larger the setting value, the higher the gain and the greater the stiffness. The parameter value is determined according to the specific servo drive system model and load value. In general, the larger the load inertia is, the larger the set value is. Under the condition that the servo driver system does not produce oscillation, set a larger value as far as possible.