Parker Hannifin G2 manual

53 Position integral limiting value		Always
Minimum value:	0	Long:
Maximum value:	4999999	PosIntegralLimit
Initial value:	10000	Short:
Unit:	None	PosIntLim

Specify the limiter value of the position error integrator in the axis position control section. Specify a smaller value when a wind-up condition occurs during axis operation. This parameter is set automatically by either executing auto- tuning operation or changing the "servo stiffness settings" parameter.

54 Position feed forward percentage		Always
Minimum value:	0	Long:
Maximum value:	126	Position_FF_%
Initial value:	90	Short:
Unit:	%	Inch_FF%
Specify the position feed forward of the axis control section.
55 Velocity feed forward percentage		Always
Minimum value:	0	Long:
Maximum value:	126	Velocity_FF_%
Initial value:	100	Short:
Unit:	%	Vel_FF%
Specify the velocity feed forward.
56 Acceleration feed forward gain		Always
Minimum value:	0	Long:
Maximum value:	200	Accelaration_FF_%
Initial value:	0	Short:
Unit:	%	Acc_FF%

Specify the acceleration feed forward. This parameter calculates the internal gain based on the load inertia/load mass.

58 Positioning settling pulse width 1		Always
Minimum value:	0	Long:
Maximum value:	32767	CoinWidth Pls1
Initial value:	1	Short:
Unit:	pulse	Coin_widthP1

Specify the settling width to be used for position settling check and position settling wait in the axis position control section.

This parameter is used when the position settling width 1 has been selected.

59 Position current value filter frequency		Always
Minimum value:	1	Long:
Maximum value:	200	PfbMonFilteFreq
Initial value:	10	Short:
Unit:	Hz	PfbFilFrq

Specify the position current value filter frequency. The position current value filter functions when the Using position current value filter parameter is set to “Use.” This filter does not function for the position information that is fed back to the position control part.