Delta Electronics ASDA-B Series manual Low-pass Filter, Position Loop Gain Adjustment, Pflt, Pf Lt

Chapter 6 Control Modes of OperationASDA-B Series

	Electronic Gear Ratio		Corresponding travel distance per pulse
When the electronic		= 1	= 3x	100 0	=	300 0	m
gear ratio is not used		1	4x	250 0		100 00
When the electronic	=	1000 0	=1	m
gear ratio is not used		300 0

Table 6.B

6.2.5 Low-pass Filter

Relevant parameters:

P1 - 08

PFLT	Smooth Constant of Position Command (Low-	Communication Addr.: 0108H
	pass Filter)
Default: 0		Related Section:
Applicable Control Mode: P		Section 6.2.5
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)

Position

Target pos ition

Time (ms)

PF LT

6.2.6 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.

6-6 Revision January, 2009