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ASDA-A3

6

6.2.8 Gain adjustment of the position loop

There are two types of gain adjustment for the position loop: auto and manual.

 Auto adjustment

The servo drive can complete the gain adjustment with the Auto Tuning function. Refer to

Chapter 5 Tuning for a detailed description.

 Manual adjustment

Before setting the position control unit, you have to set the speed control unit manually with

P2.004 and P2.006 since a speed loop is included in the position loop. Then set the position

control gain (P2.000) and position feed forward gain (P2.002).

Description of the position control gain and position feed forward gain:

1. Position control gain: the higher the gain, the larger bandwidth for the position loop response.

2. Position feed forward gain: reduces the deviation of phase delay.

Note that the position loop bandwidth should not be larger than the speed loop bandwidth.

Calculation:

fv

fp ≤

(fv: response bandwidth (Hz) of speed loop;

4

fp: response bandwidth (Hz) of position loop)

KPP = 2 ×  × fp

Example: if the desired position bandwidth is 20 Hz, adjust KPP (P2.000) to 125. (2 ×  ×

20 Hz = 125).

Refer to Chapter 8 for detailed descriptions of the relevant parameters.

Parameter

P2.000

P2.002

Function

Position control gain

Position feed forward gain

6-12

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