Delta ECMA-E 1315 Series User Manual

ASDA-A2 Chapter 6 Control Mode of Operation
Revision February, 2017 6-17
6.2.8 Gain Adjustment of Position Loop
Before setting the position control unit, users have to manually (P2-32) complete the setting of
speed control unit since the speed loop is included in position loop. Then, set the proportional gain
(parameter P2-00) and feed forward gain (parameter P2-02) of position loop. Users also can use
the auto mode to set the gain of speed and position control unit automatically.
1) Proportional gain: Increase the gain so as to enhance the response bandwidth of position loop.
2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that
4
fv
fp 
.
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×  × fp. fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz  KPP = 2 ×  × 20= 125.
Related parameters:
P2-00 KPP Position Loop Gain
Address: 0200H
0201H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.8
Default：
35
Control
Mode：
PT／PR
Unit：
rad/s
Range：
0 ~ 2047
Data Size：
16-bit
Format：
Decimal
Settings：
When the value of position loop gain is increased, the position
response can be enhanced and the position error can be reduced. If
the value is set too big, it may easily cause vibration and noise.
P2-02 PFG Position Feed Forward Gain
Address: 0204H
0205H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.8
Default：
50
Control
Mode：
PT／PR
Unit：
%

Delta ECMA-E 1315 Series Specifications

General

Brand	Delta
Model	ECMA-E 1315 Series
Category	Servo Drives
Language	English