Delta Electronics none manual Kpp, Ppr, Position Loop Gain Switching Rate Communication Addr H

			Chapter 7 Servo ParametersASDA-AB Series
Group 2: P2-xx Extension Parameters
P2 - 00	KPP	Proportional Position Loop Gain		Communication Addr.: 0200H
	Default: 35			Related Section:
	Applicable Control Mode: Pt, Pr			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 - 01

PPR	Position Loop Gain Switching Rate	Communication Addr.: 0201H
Default: 100		Related Section: N/A
Applicable Control Mode: Pt, Pr
Unit: %

Range: 10 ~ 500

Settings:

This parameter is used to set the position gain switching rate when the gain switching condition is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for gain switching condition settings.

P2 - 02

PFG	Position Feed Forward Gain	Communication Addr.: 0202H
Default: 5000		Related Section:
Applicable Control Mode: Pt, Pr		Section 6.2.8
Unit: 0.0001
Range: 10 ~ 20000
Settings:

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 7-51