Delta ASDA-A3 Series User Manual page 354

ASDA-A3
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. Then, you have to decrease the KPP value until the rotor stops
vibrating. When the external torque is too high, the low value of 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 following error.
The actual position profile changes from (1) to (3) with the increase in the KPP value. (4) stands
for the Position command.
Position control unit
Position feed
Differentiator forward gain
P2.002
Position control
gain
P2.000
-
Position counter
Position feed forward
gain smoothing
constant
P2.003
+
Position control
gain rate of
Gain switching
change
P2.027
P2.001
+
Operation Mode
+
Maximum
speed limit
P1.055
Speed
command
Encoder
6
6-13