Proportional Position Loop Gain; Position Feed Forward Gain - Delta ASD-B2-0121-B User Manual

Chapter 6 Control Modes of Operation
For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 × π × 20= 125 rad/s.
Relevant parameters:
P2 - 00 KPP

Proportional Position Loop Gain

Default: 35
Applicable Control Mode: PT
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: DEC
Settings:
This parameter is used to set the position loop gain. It can increase stiffness,
expedite position loop response and reduce position error. However, if the setting
value is over high, it may generate vibration or noise.
P2 - 02 PFG

Position Feed Forward Gain

Default: 50
Applicable Control Mode: PT
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: DEC
This parameter is used to set the feed forward gain when executing position
control command. When using position smooth command, increase gain can
improve position track deviation. When not using position smooth command,
decrease gain can improve the resonance condition of mechanical system. However,
if the setting value is over high, it may generate vibration or noise.
6-8
Communication Addr.:
0200H, 0201H
Related Section:
Section 6.2.8
Communication Addr.:
0204H, 0205H
Related Section:
Section 6.2.8
Revision June 2010