Delta ASD-M-0721 Series User Manual

ASDA-M Chapter 6 Control Mode of Operation
Revision December, 2014 6-17
P2-02 PFG Position Feed Forward Gain
Address: 0204H
0205H
Parameter
Attribute
：
Parameter for individual axis
Related Section:
Section 6.2.8
Operational
Interface
：
Panel / Software Communication
Default：
50
Control
Mode
：
PT／PR
Unit：
%
Range：
0 ~ 100
Data Size：
16bit
Format：
DEC
Settings：
If the position command is changed smoothly, increase the gain
value can reduce the position error. If the position command is not
changed smoothly, decreasing the gain value can reduce the
vibration of the mechanism.
Differentiator
Proportional
Gain
P2-00
Position Control Unit
Gain
Switching
P2-27
Speed
Command
Position Feed
Forward Gain
P2-02
Feed Forward
Low-pass Filter
P2-03
Switch Rate of
Position Loop
Gain
P2-01
Maximum
Speed Limit
P1-55
Encoder
Position
Counter
+
-
+
+
+
Position
Command
When the value of proportional gain, KPP is set too big, the response bandwidth of
position loop will be increased and diminish the phase margin. And the motor rotor
rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be
decreased until the rotor stops vibrating. When the external torque interrupts, the
over-low KPP cannot meet the demand of position deviation. In this situation, parameter
P2-02 can effectively reduce the position error.

Delta ASD-M-0721 Series Specifications

General

Brand	Delta
Model	ASD-M-0721 Series
Category	Servo Drives
Language	English