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Tuning

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ASDA-A3

5

5.5.9.2 Command response gain (P2.089) - response adjustment

Use P2.089 to adjust the command response gain to improve the response to the servo

command. Increasing the gain can reduce the transient error between the position command

and command response (in acceleration and deceleration zones). That is, the setting is effective

only when the commands are changing. This parameter is available only when the two degree

of freedom control function is enabled (P2.094 [Bit 12] = 1) in Position mode. (The two degree of

freedom control function is enabled by default).

Position

Command

Position

Command response

Command feedback

Command

Command response

Command feedback

Low command

response gain

Time

High command

response gain

Time

5.5.9.3 Bandwidth for speed loop response (P2.126) - bandwidth adjustment

P2.126 sets the bandwidth for the speed loop, and the corresponding position loop bandwidth

and the speed loop bandwidth are at a fixed ratio. To fine-tune the ratio between the position

bandwidth and speed bandwidth (P2.000 and P2.004) or the ratio between the proportional gain

(P2.004) and integral gain (P2.006) of the speed loop, switch the system to Manual mode for

operation.

Assuming that the bandwidth setting of P2.126 = BW, the recommended settings for the gain

parameters are as follows.

 P2.000 = P2.004 / 4

 P2.004 = BW * 2 * π

 P2.006 = BW

 P2.026 = BW

5-40

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