Delta ASDA-M Series User Manual

ASDA-M Chapter 6 Control Mode of Operation
Revision December, 2014 6-35
P2-06 KVI Speed Integral Compensation
Address: 020CH
020DH
Parameter
Attribute
：
Parameter for individual axis
Related Section:
Section 6.3.6
Operational
Interface
：
Panel / Software Communication
Default：
100
Control
Mode
：
ALL
Unit：
rad/s
Range：
0 ~ 1023
Data Size：
16bit
Format：
DEC
Settings：
Increasing the value of speed integral compensation can enhance
speed response and diminish the deviation of speed control.
However, if the value is set too big, it would easily cause
resonance and noise.
P2-07 KVF Speed Feed Forward Gain
Address: 020EH
020FH
Parameter
Attribute
：
Parameter for individual axis
Related Section:
Section 6.3.6
Operational
Interface
：
Panel / Software Communication
Default：
0
Control
Mode
：
ALL
Unit：
%
Range：
0 ~ 100
Data Size：
16bit
Format：
DEC
Settings：
When the speed control command runs smoothly, increasing the
gain value can reduce the speed command error. If the command
does not run smoothly, reducing the gain value can reduce the
mechanical vibration during operation.
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.

Delta ASDA-M Series Specifications

General

Brand	Delta
Model	ASDA-M Series
Category	Servo Drives
Language	English