Gain Adjustment Of Position Loop - Delta ASD-B2-1521-F User Manual

ASDA-B2

6.2.5 Gain Adjustment of Position Loop

Before setting the position control unit, users have to manually (P2-32) complete the
setting of speed control unit since the speed loop is included in position loop. Then, set the
proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of position
loop. Users also can use the auto mode to set the gain of speed and position control unit
automatically.
(1) Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop.
(2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that
fv
fp 
.
4
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×  × fp.
fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz  KPP = 2 ×  × 20= 125.
Related parameters:
P2-00 KPP
Operation
Interface:
Default: 35
Control
Mode:
Range: 0 ~ 2047
Data Size: 16-bit
Display
Format:
Settings: When the value of position loop gain is increased, the position
Revision May, 2018
Position Loop Gain
Panel/Software
PT
Unit: rad/s
Decimal
response can be enhanced and the position error can be
reduced. If the value is set too big, it may easily cause vibration
and noise.
Chapter 6 Control Modes of Operation
Communication
Address: 0200H
0201H
Related Section:
Section 6.2.5
6-11