Low-Pass Filter; Smooth Constant Of Position Command; Position Loop Gain Adjustment - Delta ASD-B2-0121-B User Manual

6.2.4 Low-pass Filter

Relevant parameters:

Smooth Constant of Position Command

P1 - 08 PFLT
(Low-pass Filter)
Default: 0
Applicable Control Mode: PT
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: DEC

6.2.5 Position Loop Gain Adjustment

Before performing position control (setting position control block diagram), the users
should complete the speed control setting by using Manual mode (parameter P-32) since
the position loop contains speed loop. Then, adjust the Proportional Position Loop Gain,
KPP (parameter P2-00) and Position Feed Forward Gain, PFG (parameter P2-02). Or use
Auto mode to adjust the gain of speed and position control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position loop
responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track error
during operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster
than the position loop responsiveness. This also means that the setting value of
Proportional Speed Loop Gain, KVP should be at least four times faster than Proportional
Position Loop Gain, KPP.
The equation is shown as follows:
fp < fv
4
, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
KPP = 2 × π × fp.
Revision June 2010
Position
Tar get pos ition
PF LT
Chapter 6 Control Modes of Operation
Communication Addr.:
0110H, 0111H
Related Section:
Section 6.2.6
Time (ms)
6-7