Kpp, Parameter P2-00 Proportional Position Loop Gain; Kvp, Parameter P2-04 Proportional Speed Loop Gain; Kvi, Parameter P2-06 Speed Integral Compensation - Delta Electronics AC Servo Drive ASDA-AB User Manual

Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

KPP, Parameter P2-00 Proportional Position Loop Gain

This parameter is used to determine the responsiveness of position loop (position loop gain). It
could be used to increase stiffness, expedite position loop response and reduce position error.
When the setting value of KPP is higher, the response to the position command is quicker, the
position error is less and the settling time is also shorter. However, if the setting value is over high,
the machinery system may generate vibration or noise, or even overshoot during positioning. The
position loop responsiveness is calculated as follows:
Position Loop Responsiveness (Hz)=

KVP, Parameter P2-04 Proportional Speed Loop Gain

This parameter is used to determine the responsiveness of speed loop (speed loop gain). It could
be used to expedite speed loop response. When the setting value of KVP is higher, the response
to the speed command is quicker. However, if the setting value is over high, it may result in the
resonance of machinery system. The responsiveness of speed loop must be higher than the 4~6
times of the responsiveness of position loop. If responsiveness of position loop is higher than the
responsiveness of speed loop, the machinery system may generate vibration or noise, or even
overshoot during positioning. The speed loop responsiveness is calculated as follows:
Speed Loop Responsiveness (Hz)=

KVI, Parameter P2-06 Speed Integral Compensation

If the setting value of KVI is higher, the capability of decreasing the speed control deviation is
better. However, if the setting value is over high, it may easily result in the vibration of machinery
system. The recommended setting value is as follows:
KVI (Parameter P2-06)
NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression
When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At
this time, the users can increase the setting value of KVP (P2-04) to keep the responsiveness of
speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the
vibration of machinery system. Please use this parameter to suppress or eliminate the noise of
resonance. If the setting value of NLP is higher, the capability of improving the noise of resonance
is better. However, if the setting value is over high, it may easily lead to the instability of speed
loop and overshoot of machinery system.
The recommended setting value is as follows:
NLP (Parameter P2-25)
5-24
KPP
2
(1+ (J_load / J_motor)) X2
1.5 x Speed Loop Responsiveness
1000
4 x Speed Loop Responsiveness (Hz)
KVP
Revision January 2009