Command Response Gain (P2.089) - Response Adjustment; Bandwidth For Speed Loop Response (P2.126) - Bandwidth Adjustment - Delta ASDA-A3 Series User Manual

ASDA-A3

5.5.9.2 Command response gain (P2.089) - response adjustment

Use P2.089 to adjust the command response gain to improve the response to the servo
command. Increasing the gain can reduce the transient error between the position command
and command response (in acceleration and deceleration zones). That is, the setting is effective
only when the commands are changing. This parameter is available only when the two degree
of freedom control function is enabled (P2.094 [Bit 12] = 1) in Position mode. (The two degree of
freedom control function is enabled by default).
Position

5.5.9.3 Bandwidth for speed loop response (P2.126) - bandwidth adjustment

P2.126 sets the bandwidth for the speed loop, and the corresponding position loop bandwidth
and the speed loop bandwidth are at a fixed ratio. To fine-tune the ratio between the position
bandwidth and speed bandwidth (P2.000 and P2.004) or the ratio between the proportional gain
(P2.004) and integral gain (P2.006) of the speed loop, switch the system to Manual mode for
operation.
Assuming that the bandwidth setting of P2.126 = BW, the recommended settings for the gain
parameters are as follows.
P2.000 = P2.004 / 4
◼
◼ P2.004 = BW * 2 * π
◼ P2.006 = BW
◼ P2.026 = BW
Command
Command response
Command feedback
Low command
response gain
Position
Time
High command
response gain
Tuning
Command
Command response
Command feedback
Time
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