Gain Adjustment Of Position Loop - Delta ASDA-M Series User Manual

Chapter 6 Control Mode of Operation

6.2.8 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
2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested
fv
fp 
that .
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:
P2-01 PPR
Parameter
Attribute ：
Operational
Interface ：
Default ： 100
Control
Mode ：
Unit ： %
Range ： 10 ~ 500
Data Size ： 16bit
Format ： DEC
Settings ： Switch the changing rate of position loop gain according to the
6-16
position loop.
Switching Rate of Position Loop Gain
Parameter for individual axis
Panel / Software
PT ／ PR
gain-switching condition.
Communication
ASDA-M
Address: 0202H
0203H
Related Section:
Section 6.2.8
Revision December, 2014