Delta ASDA-A3 Series, Руководство пользователя

Страница: 172 / 845

ASDA-A3 Operation Mode
6-11
6
6.2.8 Gain adjustment of 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. 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 control
gain (P2.000) and position feed forward gain (P2.002).
Description of the position control gain and position feed forward gain:
1.
Position control gain: the higher the gain, the larger bandwidth for the position loop
response.
2.
Position 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 ×

×
fp
Example: if the desired position bandwidth is 20 Hz, then adjust KPP (P2.000) to 125 (2 ×

×
20 Hz = 125).
Refer to Chapter 8 for detailed descriptions of the relevant parameters.
Parameter Function
P2.000 Position control gain
P2.002 Position feed forward gain