Proportional Position Loop Gain; Position Loop Gain Switching Rate; Position Feed Forward Gain - Delta Electronics ASDA-B Series User Manual

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: 50
Applicable Control Mode: P
Unit: rad/s
Range: 0 ~ 1023
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. In AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
P2 - 01 PPR

Position Loop Gain Switching Rate

Default: 100
Applicable Control Mode: P
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the position gain switching rate when the gain switching condition
is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29
for gain switching condition settings.
P2 - 02 PFG

Position Feed Forward Gain

Default: 0
Applicable Control Mode: P
Unit: %
Range: 0 ~ 100
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
Revision January, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
Communication Addr.: 0200H
Related Section:
Section 6.2.6, P2-27
Communication Addr.: 0201H
Related Section:
Section 6.2.6, P2-27, P2-29
Communication Addr.: 0202H
Related Section:
Section 6.2.6, P2-03
6-7