Chapter 6 Control Mode of Operation ASDA-A2
6-36 Revision February, 2017
Time Domain
Generally, instrument is needed when applying frequency domain for measurement. Users are
required to adopt the measurement techniques; while time domain only needs a scope and goes
with the analog input / output terminal provided by the servo drive. Thus, time domain is frequently
The bigger KVP value cause higher
bandwidth and shorten the rising
time. However, if the value is set too
big, the phase margin will be too
small.
To steady-state error, the result is
not as good as KVI. But it helps to
reduce the dynamic following error.
The bigger KVI value cause greater low-
frequency gain and shorten the time the
steady-state error returns to zero. However,
the phase margin will dramatically decrease
as well.
To steady-state error, it is very helpful but
shows no benefit to dynamic following error.
If the KVF value closes to 1, the feed
forward compensation will be more
complete and the dynamic following
error will become smaller. However, if
the KVF value is set too big, it would
cause vibration.
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