Timing Chart Of Position (Pr) Control Mode; Position Loop Gain Adjustment - Delta Electronics AC Servo Drive ASDA-AB User Manual

Chapter 6 Control Modes of Operation|ASDA-AB Series

6.2.7 Timing Chart of Position (Pr) Control Mode

In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG.
Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is
shown the timing chart of Pr mode:
Internal position
command
External I/O signal

6.2.8 Position Loop Gain Adjustment

Before performing position control (setting position control block diagram), the users should complete
the speed control setting by using Manual mode (parameter P-32) since the position loop contains
speed loop. Then, adjust the Proportional Position Loop Gain, KPP (parameter P2-00) and Position
Feed Forward Gain, PFG (parameter P2-02). Or use Auto mode to adjust the gain of speed and position
control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position loop
responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track error during
operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster than the position
loop responsiveness. This also means that the setting value of Proportional Speed Loop Gain, KVP
should be at least four times faster than Proportional Position Loop Gain, KPP.
The equation is shown as follows:
fp < fv
4
, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
KPP = 2 × π × fp.
6-10
P8
P3
P2
P1
OFF
POS0
OFF
POS1
OFF
POS2
CTRG
ON
SON
1ms
OFF
ON ON
ON
ON
>2ms, can be set by P2-09
Revision January 2009