Gain Adjustment Of The Position Loop - Delta ASDA-B3 Series User Manual

ASDA-B3

6.2.8 Gain adjustment of the position loop

There are two types of gain adjustment for the position loop: auto and manual.
 Auto
The ASDA-B3 servo drive provides an Auto Tuning function that allows you to easily complete
the gain adjustment. Refer to Chapter 5 Tuning for a detailed description.
 Manual
Before setting the position control unit, you have to manually set the speed control unit (P2.004
and P2.006) since a speed loop is included in the position loop. Then set the position control
gain (P2.000) and position feed forward gain (P2.002).
Description of the position control gain and position feed forward gain:
1. Position control gain: the higher the gain, the larger bandwidth for the position loop
response.
2. Position feed forward gain: reduces the deviation of phase delay.
Note that the position loop bandwidth should not be larger than the speed loop bandwidth.
fp 
Calculation:
KPP = 2 ×  × fp
Example: if the desired position bandwidth is 20 Hz, then adjust KPP (P2.000) to 125.
(2 ×  × 20 Hz = 125)
Refer to Chapter 8 for detailed descriptions of the relevant parameters.
Parameter
P2.000
P2.002
Position
+
command
fv
(fv: response bandwidth of speed loop (Hz); fp: response bandwidth of
4
position loop (Hz).)
Position control unit
Position feed
Differentiator forward gain
P2.002
Position
control gain
P2.000
-
Function
Position control gain
Position feed forward gain
Position feed
forward gain
smoothing constant
P2.003
Position control
gain rate of
Gain switching
change
P2.001
Position
counter
Operation Mode
+
+
Maximum
speed limit
P1.055
P2.027
Speed
command
Encoder
6
6-11