Delta Electronics none manual Kpp, Proportional Position Loop Gain Communication Addr H, Pfg

Chapter 6 Control Modes of OperationASDA-AB Series

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
Default: 35		Related Section:
Applicable Control Mode: P		Section 6.2.8
Unit: rad/s
Range: 0 ~ 1023
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.: 0202H
Default: 5000		Related Section:
Applicable Control Mode: P		Section 6.2.8
Unit: 0.0001
Range: 10 ~ 20000

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.

Revision March 2008, Doc. Name: 2007PDD23000011 6-11