656 Servo gain adjustment6-1．Gain setting of speed loopGain parameters about speed loop:P1-00 Speed loop gain (Kp)Unit Default Range Suitable mode Modify Effective1Hz 100 1~5000 3, 4, 5, 6, 7 Any ImmediatelyP1-01 Speed loop integral time constant (Ki)Unit Default Range Suitable mode Modify Effective0.1ms 400 1~5000 3, 4, 5, 6, 7 Any ImmediatelyTo set the speed loop gain larger and the speed integral time constant smaller can realize high responsespeed controlling. But servo will restrict by machine performance.6-2．Gain setting of position loopGain parameter about position loop:In position control mode, the servo will alarm when the offset pulse over the limit value.The value is offset pulse limit parameter:P5-05 Offset pulse limitUnit Default Range Suitable mode Modify Effective256*commandpulse1000 0~65535 5, 6 ServoOFFImmediatelyThe offset pulse will not be checked when offset pulse limit value is 0.P1-02 Position loop gain（Kp）Unit Default Range Suitable mode Modify Effective1/s 100 1~2000 5, 6 Any ImmediatelyTo do position control with high response and less offset needs to set the position loop gain larger. Butservo will restrict by machine performance.Positioncommand+-Position feedbackPosition loop gainKpSpeedcommand Kp（1+ ）1KiS+-Speed feedbackSpeed loop gain
