Delta ASD-B2-0121-B, User Manual, Page: 116 / 313

Chapter 6 Control Modes of Operation
Revision June 2010
6-7
6.2.4 Low-pass Filter
Relevant parameters:
P1 - 08 PFLT
Smooth Constant of Position Command
(Low-pass Filter) Communication Addr.:
0110H, 0111H
Default: 0 Related Section:
Applicable Control Mode: PT Section 6.2.6
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: DEC
PF LT
Tar get pos ition
Position
Time (ms)
6.2.5 Position Loop Gain Adjustment
Before performing position control (setting position control block diagram), the users
should complete the speed control setting by using Manual mode (parameter P-32) since
the position loop contains speed loop. Then, adjust the Proportional Position Loop Gain,
KPP (parameter P2-00) and Position Feed Forward Gain, PFG (parameter P2-02). Or use
Auto mode to adjust the gain of speed and position control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position loop
responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track error
during operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster
than the position loop responsiveness. This also means that the setting value of
Proportional Speed Loop Gain, KVP should be at least four times faster than Proportional
Position Loop Gain, KPP.
The equation is shown as follows:
fp < fv
4
, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
KPP = 2 ×
π
× fp.