Delta ASD-A3-0121, User Manual

Page: 161 / 603

Operation Mode ASDA-A3
6-10
Revision December, 2017
6
6.2.8 Gain adjustment for the position loop
There are two types of gain adjustment for the position loop: auto and manual.

Auto adjustment:
The ASDA-A3 servo drive provides an Auto Tuning function that allows you to easily complete
the gain adjustment. Please refer to Chapter 5 Tuning for a detailed description.

Manual adjustment:
Before setting the position control unit, you have to manually set the speed control unit (P2.004
and P2.006) since a speed loop is included in the position loop. Then set the position loop gain
(P2.000) and position feed forward gain (P2.002).
Description of the proportional gain and feed forward gain:
1. Proportional gain: a larger gain increases the response bandwidth of position loop.
2. Feed forward gain: reduces the deviation of phase delay.
Please note that the position loop bandwidth should not be larger than the speed loop bandwidth.
Calculation:
4
fv
fp ≤
(fv: response bandwidth of speed loop (Hz); fp: response bandwidth of
position loop (Hz).)
KPP = 2 × π × fp
Example: if the desired position bandwidth is 20 Hz, then adjust KPP (P2.000) to 125. (2 × π × 20
Hz = 125)
Relevant parameters: please refer to Chapter 8 for detailed descriptions.
Parameter Function
P2.000 Position control gain
P2.002 Position feed forward gain
Differentiator
Position control
gain
P2.000
Position control unit
Gain switching
condition and
method selection
P2.027
Speed
command
Position feed
forward gain
P2.002
Smooth constant
of position feed
forward gain
P2.003
Changing rate of
position control gain
P2.001
Max. speed limit
P1.055
Encoder
Position counter
+
-
+
+
+
Position
command