ASDA-B2
Chapter 6 Control Modes of Operation
Revision May, 2018
6-11
6.2.5 Gain Adjustment of Position Loop
Before setting the position control unit, users have to manually (P2-32) complete the
setting of speed control unit since the speed loop is included in position loop. Then, set the
proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of position
loop. Users also can use the auto mode to set the gain of speed and position control unit
automatically.
(1) Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop.
(2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that
4
fv
fp
.
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×
× fp.
fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz
KPP = 2 ×
× 20= 125.
Related parameters:
P2-00
KPP Position Loop Gain
Address: 0200H
0201H
Operation
Interface:
Panel/Software
Communication
Related Section:
Section 6.2.5
Default:
35
Control
Mode:
PT
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display
Format:
Decimal
Settings: When the value of position loop gain is increased, the position
response can be enhanced and the position error can be
reduced. If the value is set too big, it may easily cause vibration
and noise.
