Delta ASD-B2-0121-B, User Manual

Page: 117 / 313

Chapter 6 Control Modes of Operation
6-8
Revision June 2010
For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 ×
π
× 20= 125 rad/s.
Relevant parameters:
P2 - 00 KPP Proportional Position Loop Gain
Communication Addr.:
0200H, 0201H
Default: 35 Related Section:
Applicable Control Mode: PT Section 6.2.8
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: DEC
Settings:
This parameter is used to set the position loop gain. It can increase stiffness,
expedite position loop response and reduce position error. However, if the setting
value is over high, it may generate vibration or noise.
P2 - 02 PFG Position Feed Forward Gain
Communication Addr.:
0204H
,
0205H
Default: 50 Related Section:
Applicable Control Mode: PT Section 6.2.8
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: DEC
This parameter is used to set the feed forward gain when executing position
control command. When using position smooth command, increase gain can
improve position track deviation. When not using position smooth command,
decrease gain can improve the resonance condition of mechanical system. However,
if the setting value is over high, it may generate vibration or noise.