2.Position Loop Adjustment
(1) Adjust Kpp.
(2)Adjust Vff（K_Velocity_FF）
Adjust Vff parameter according to the allowable position error and coupling performance of machine.
Normally Vff is 100%.If system doesn’t need high response for position,then this parameter can
be decreased to reduce overshoot.
(3)Use oscilloscope to observe curve.
Set motor running at Auto Reverse mode by time (Operation mode 3),set parameters of oscilloscope
as following figure.
In Fig.(1) and Fig.(2),Vff is 100%,When Kpp is 30,the response of position loop is faster than the
one when Kpp is 10.Meanwhile the following error is also less,but overshoot is bigger.
Fig.(3),Kpp is 30,Vff is 50%.Compare with Fig.(2),the following error is bigger,but response becomes
slower and there is almost no overshoot.
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