User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
6-11
6-2-8 Position Loop Gain Adjustment
Before performing position control (setting position control block diagram), users should complete the speed
control setting by selecting tuning mode (using parameter P-32) since the position loop contains speed loop.
Then, adjust the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02). Or using
Auto mode to automatically adjust the gain of speed and position control mode.
1) Proportional gain: Adjust this gain can increase the response bandwidth of position loop.
2) Feed forward gain: Adjust this gain, the phase delay time during operation is nearly zero when the
setting is close to 100%.
The bandwidth of position loop can not exceed the bandwidth of speed loop, it is recommended as
fp <
fv
4
,
fv : Response bandwidth of speed loop (Hz),
KPP = 2 ͪ S ͪ fp, in this formula, fp: Response bandwidth of position loop (Hz)
For example, the desired bandwidth is equal to 20 Hz =>KPP = 2 ͪ S ͪ 20= 125
Relevant parameters:
P2 - 00 KPP
Proportional Position Loop Gain
Communication Addr.: 0200H
Default: 35 Applicable Control Mode: P
Range: 0~1023
Unit: rad/s
P2 - 02 PFG
Position Feed Forward Gain Communication Addr.: 0202H
Default: 5000 Applicable Control Mode: P
Range: 10~20000
Unit: 0.0001
P2-02
differentiator
P2-00
Position Control Block Diagram
Encoder
Proportional
Gain
Feed forward
Gain
Position
Counter