Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
Revision April 2009 6-23
P2 - 06
KVI Speed Integral Compensation Communication Addr.: 0206H
Default: 100 Related Section:
Applicable Control Mode: ALL Section 6.3.6
Unit: N/A
Range: 0 ~ 4095 (ASDA-A series)
0 ~ 1023 (ASDA-A+ series)
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed integral
compensation is increased, it can improve the speed response ability and decrease the speed
control deviation. However, if the setting value is over high, it may generate vibration or noise.
P2 - 07
SFG Speed Feed Forward Gain Communication Addr.: 0207H
Default: 0 Related Section:
Applicable Control Mode: ALL Section 6.3.6
Unit: 0.0001
Range: 0 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing speed control command.
When using speed smooth command, increase gain can improve speed track deviation.
When not using speed smooth command, decrease gain can improve the resonance condition of
mechanical system.
In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and
feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic.
Frequency Domain
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