Proportional Position Loop Gain; Position Feed Forward Gain - Delta Electronics ASDA-A Series User Manual

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Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
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
Default: 35
Applicable Control Mode: Pt, Pr
Unit: rad/s
Range: 0 ~ 1023
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
Default: 5000
Applicable Control Mode: Pt, Pr
Unit: 0.0001
Range: 10 ~ 20000
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. However, if the setting value is over high, it may generate vibration or
noise.
6-12
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Proportional Position Loop Gain

Position Feed Forward Gain

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Communication Addr.: 0200H
Related Section:
Section 6.2.8
Communication Addr.: 0202H
Related Section:
Section 6.2.8
Revision April 2009
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