Delta ASDA-A3 Series User Manual page 162

ASDA-A3
When you set the value of KPP (P2.000) too high, the bandwidth for the position loop is
increased and the phase margin is reduced. Meanwhile, the motor rotates and vibrates in the
forward and reverse directions. In this case, you have to decrease KPP until the rotor stops
vibrating. When the external torque is too high, the low value for KPP cannot meet the demand of
reducing position error. In this case, increasing position the feed forward gain, PFG (P2.002),
can effectively reduce the following error.
The actual position curve changes from (1) to (3) with the increase in the KPP value. (4) stands
for the Position command.
Revision December, 2017
Operation Mode
6
6-11