Lite-On Technology Corp.
Industrial Automation
161
PB-22
PFG
Feed-forward gain for the position
control
Communication
address:
012CH
012DH
Initial value
50
Control mode
P
Unit
%
Configuration range
0 ~ 100
Data size
16bit
Data format
Dec
For smooth change of the position control command, the increase in gain improves the magnitude
of the following error for the position. For unsmooth change of the position control command, the
decrease in gain mitigates the vibration of the mechanism during operation.
Position control unit:
If the KPP of proportional gain is adjusted to an excessive degree, the open-loop bandwidth of the
position is expanded, which results in the reduction of phase margin and the motor vibration. The KPP
must be lowered until the motor rotor no longer vibrates. With the interference of the external torque,
excessively low KPP cannot meet reasonable requirements of the following error for the position. By
adjusting the PFG of the feed-forward gain properly, the dynamic following error of position can be
reduced effectively.
S
(differentiator)
Position
command
Feed-forward gain
Feed-forward low-
pass filter
Proportional gain
Switch time constant
Ratio for gain
variation
Switch time constant
Maximum speed limit
Speed command
Position feedback
Encoder
