Delta ASD-A2 Series User Manual page 173

Chapter 6 Control Mode of Operation
Range： 0 ~ 100
Data Size： 16-bit
Format： Decimal
Settings： If the position command is changed smoothly, increasing the gain
Differentiator
+
-
When the value of proportional gain, KPP is set too big, the response bandwidth of position loop
will be increased and diminish the phase margin. And the motor rotor rotates vibrantly in forward
and reverse direction at the moment. Thus, KPP has to be decreased until the rotor stops vibrating.
When the external torque interrupts, the over-low KPP cannot meet the demand of position
deviation. In this situation, parameter P2-02 can effectively reduce the position error.
6-18
value can reduce the position error.
If the position command is not changed smoothly, decreasing the gain
value can tackle the problem of mechanical vibration.
Position Control
Position Feed
Forward Gain
P2-02
Position Loop
Gain
P2-00
Switching Rate of
Position Loop Gain
Position
Counter
Smooth Constant of
Position Feed
Forward Gain
P2-03
+
Gain Switching
P2-01
P2-27
+
ASDA-A2
+
Max. Speed Limit
P1-55
Speed
Command
Encoder
Revision February, 2017