Delta ASDA-B2 Series User Manual page 123

Chapter 6 Control Modes of Operation
P2-02 PFG
Operation
Interface:
Default: 50
Control
Mode:
Range: 0 ~ 100
Data Size: 16-bit
Display
Format:
Settings: If the position command is changed smoothly, increasing the gain
Differentiator
Position
+
Command
-
When the value of proportional gain, KPP is set too big, the response bandwidth of
position loop will be increased and diminish the phase margin. And the motor rotor
rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be
decreased until the rotor stops vibrating. When the external torque interrupts, the
over-low KPP cannot meet the demand of position deviation. In this situation,
parameter P2-02 can effectively reduce the position error.
6-12
Position Feed Forward Gain
Panel/Software
PT
Unit: %
Decimal
value can reduce the position error. If the position command is
not changed smoothly, decreasing the gain value can tackle the
problem of mechanical vibration.
Position Control
Position Feed
Forward Gain
P2-02
Position Loop
Gain
P2-00
Position Counter
Communication
Smooth Constant of
Position Feed Forward
Gain
P2-03
Switching Rate of
Position Loop
Gain
Gain Switching
P2-01
+
ASDA-B2
Address: 0204H
0205H
Related Section:
Section 6.2.5
+
+
Max. Speed Limit
P1-55
P2-27 Speed
Command
Encoder
Revision May, 2018