Function Description Of Two Degree Of Freedom Control Function - Delta ASDA-B3 Series User Manual

ASDA-B3

5.7.5.2 Function description of two degree of freedom control function

When the two degree of freedom control function is enabled (P2.094 [Bit 12] = 1), set P2.000
and P2.089 for better position response.
Set P2.089 to adjust how well the command response follows the command. Setting P2.089
higher can reduce the transient error between the position command and command response,
but the error between the command response and feedback does not change. Thus, P2.089 is
valid only when the position command changes. To reduce the difference between the
command response and feedback, or to reduce the position jitter when the motor stops, adjust
P2.000 or other control gain parameters.
Position
Original gain setting
Position
Original gain setting
Setting P2.090 (Two degree of freedom mode - anti-interference gain) can adjust the position
settling waveform but does not change the command response time. Setting P2.090 to a
smaller value lowers the response after the command is complete but reduces the position
feedback overshoot.
Position
Command
response not
Time
P2.000 = 40
Position
Error not changed;
better response
Time
P2.089 = 40
Feedback position
Position
when P2.090 = 0.85
Feedback position
when P2.090 = 0.5
Command
Command response
Position
changed
Time
P2.000 = 50
Command
Command response
Position
Error not changed;
better response
Time
P2.089 = 50
Time
Tuning
Position feedback
Original gain setting
Command
response not
changed
Time
Position feedback
Original gain setting
Time
5-55
5