Gain Adjustment Of Position Loop - Delta ASD-A2 Series User Manual

ASDA-A2

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 position loop.
2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that
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:
P2-00 KPP
Operational
Interface：
Default： 35
Control
Mode：
Unit： rad/s
Range： 0 ~ 2047
Data Size： 16-bit
Format： Decimal
Settings： When the value of position loop gain is increased, the position
P2-02 PFG
Operational
Interface：
Default： 50
Control
Mode：
Unit： %
Revision February, 2017
Position Loop Gain
Panel / Software
PT／PR
response can be enhanced and the position error can be reduced. If
the value is set too big, it may easily cause vibration and noise.
Position Feed Forward Gain
Panel / Software
PT／PR
Chapter 6 Control Mode of Operation
Communication
Communication
fv
fp 
Address: 0200H
0201H
Related Section:
6.2.8
Address: 0204H
0205H
Related Section:
6.2.8
6-17
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