Low-Pass Filter; Position Loop Gain Adjustment - Delta Electronics ASDA-B Series User Manual

Chapter 6 Control Modes of Operation|ASDA-B Series
When the electronic
gear ratio is not used
When the electronic
gear ratio is not used

6.2.5 Low-pass Filter

Relevant parameters:
Smooth Constant of Position Command (Low-
P1 - 08 PFLT
pass Filter)
Default: 0
Applicable Control Mode: P
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)

6.2.6 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.
6-6
Electronic Gear Ratio
1
=
1
1000 0
=
300 0
Table 6.B
Position
Tar get pos ition
PF LT
Corresponding travel distance per pulse
3x 100 0 300 0
= =
4x 250 0 100 00
= 1 m
Communication Addr.: 0108H
Related Section:
Section 6.2.5
Time (ms)
m
Revision January, 2009