Delta ASDA-A3 Series User Manual page 173

Operation Mode
6
Position
command
When you set the value of KPP (P2.000) too high, the bandwidth for the position loop is
increased and the phase margin is reduced. Meanwhile, the rotor rotates and vibrates in the
forward and reverse directions. In this case, you have to decrease the KPP value until the rotor
stops vibrating. When the external torque is too high, the low value for KPP cannot meet the
demand of reducing the position following error. In this case, increasing the position feed
forward gain, PFG (P2.002), can effectively reduce the position following error.
The actual position curve changes from (1) to (3) with the increase in the KPP value.
(4) stands for the Position command.
6-12
Position control unit
Position feed
forward gain
Differentiator
P2.002
Position
control gain
+
P2.000
-
Position feed forward
gain smoothing
constant
P2.003
Position control
gain rate of
change
Gain switching
P2.001
+
Position
counter
+
+
Maximum
speed limit
P1.055
P2.027
Speed
command
Encoder
ASDA-A3