Position Loop Gain Adjustment - Delta ASDA-A2 Series User Manual

6.2.8 Position Loop Gain Adjustment

Before performing position control (setting position control block diagram), the users should complete
the speed control setting by using Manual mode (parameter P-32) since the position loop contains
speed loop. Then, adjust the Proportional Position Loop Gain, KPP (parameter P2-00) and Position
Feed Forward Gain, PFG (parameter P2-02). Or use Auto mode to adjust the gain of speed and
position control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position loop
responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track error during
operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster than the
position loop responsiveness. This also means that the setting value of Proportional Speed Loop Gain,
KVP should be at least four times faster than Proportional Position Loop Gain, KPP.
The equation is shown as follows:
fp < fv
4
, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
KPP = 2 × π × fp.
For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 × π × 20= 125 rad/s.
Relevant parameters:
P2 - 00 KPP Proportional Position Loop Gain
Default: 35
6.2.8
Applicable Control Mode: Pt, Pr
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise.
Revision April, 2010
Chapter 6 Control Modes of Operation|ASDA-A2 Series
Address: 0200H, 0201H
Related Section: Section
6-15