Delta ASD-A2 Series User Manual page 189

Chapter 6 Control Mode of Operation
Control
Mode：
Unit： rad/s
Range： 0 ~ 1023
Data Size： 16-bit
Format： Decimal
Settings： Increasing the value of speed integral compensation can enhance
P2-07 KVF
Operational
Interface：
Default： 0
Control
Mode：
Unit： %
Range： 0 ~ 100
Data Size： 16-bit
Format： Decimal
Settings： When the speed control command runs smoothly, increasing the gain
Theoretically, stepping response can be used to explain proportional gain (KVP), integral gain (KVI)
and feed forward gain (KVF). Here, the frequency domain and time domain are used to illustrate
the basic principle.
6-34
ALL
speed response and diminish the deviation of speed control. However,
if the value is set too big, it would easily cause resonance and noise.
Speed Feed Forward Gain
Panel / Software
ALL
value can reduce the speed command error. If the command does not
run smoothly, decreasing the gain value can reduce the mechanical
vibration during operation.
Communication
ASDA-A2
Address: 020EH
020FH
Related Section:
6.3.6
Revision February, 2017