User manual

Chapter 6 Control Modes of Operation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
6-12
When the value of KPP is too great, the bandwidth of position loop is increase and it will result in small phase
margin. At this time, the rotor of motor will shake and turn around. Users have to decrease the value of KPP
until the rotor of motor coould not shake and turn around. When there is an external torque interrupted, over
low KPP value cannot meet the requirement of reasonable position track error demand. Adjust feed forward
gain (Using parameter P2-02 can efficiently decrease the dynamic position track error).
KPP
Position
Time
KPF
Position
Time