P2-Xx Extension Parameters; Position Loop Gain Switching Rate - Delta ASD-B2-0121-B User Manual

Group 2: P2-xx Extension Parameters
P2 - 00 KPP
Default: 35
Applicable Control Mode: PT
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: Decimal
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 - 01 PPR
Default: 100
Applicable Control Mode: PT
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position gain switching rate when the gain
switching condition is satisfied. Please refer to P2-27 for gain switching control
selection settings and refer to P2-29 for gain switching condition settings.
P2 - 02 PFG
Default: 50
Applicable Control Mode: PT
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
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.
Revision June 2010
Proportional Position Loop Gain

Position Loop Gain Switching Rate

Position Feed Forward Gain
Chapter 7 Servo Parameters
Address: 0200H, 0201H
Related Section:
Section 6.2.8
Address: 0202H, 0203H
Related Section:
Section 6.2.8
Address: 0204H, 0205H
Related Section:
Section 6.2.8
7-43