Delta ASDA-M Series - Gain Adjustment of Position Loop

Chapter 6 Control Mode of Operation ASDA-M
6-16 Revision December, 2014
6.2.8 Gain Adjustment of Position Loop
Before setting the position control unit, users have to manually (P2-32) complete the
setting of speed control unit since the speed loop is included in position loop. Then, set
the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of
position loop. Users also can use the auto mode to set the gain of speed and position
control unit automatically.
1) Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop.
2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested
that
4
fv
fp  .
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×
 × fp.
fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz
 KPP = 2 ×  × 20= 125.
Related parameters:
P2-01 PPR Switching Rate of Position Loop Gain
Address: 0202H
0203H
Parameter
Attribute
：
Parameter for individual axis
Related Section:
Section 6.2.8
Operational
Interface
：
Panel / Software Communication
Default：
100
Control
Mode
：
PT／PR
Unit：
%
Range：
10 ~ 500
Data Size：
16bit
Format：
DEC
Settings：
Switch the changing rate of position loop gain according to the
gain-switching condition.