Chapter 6 Control Mode of Operation ASDA-A2R Series
6-22 Revision December, 2014
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral
Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each
parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of
speed loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of
speed loop, reduce the steady-state error and sacrifice the phase margin.
The over high integral gain will cause the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
Related parameters: Please refer to Chapter 8 for further information.
Parameter Abbr. Function
P2-04 KVP Speed Loop Gain
P2-06 KVI Speed Integral Compensation
P2-07 KVF Speed Feed Forward Gain
Theoretically, stepping response can be used to explain proportional gain (KVP), integral
gain (KVI) and feed forward gain (KVF). Here, the frequency domain and time domain
are used to illustrate the basic principle.
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