Delta Electronics none Manual De Usuario

Chapter 6  Control Modes of Operation|ASDA-AB Series

 

6-10  

 

Revision March 2008, Doc. Name: 2007PDD23000011

In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. 

Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is 

shown the timing chart of Pr mode: 

P8

P3

P2

P1

POS0

POS1

CTRG

SON

External I/O signal

OFF

ON

OFF

ON

ON

OFF

ON

>2ms, can be set by P2-09

POS2

ON

OFF

Internal position

command

1ms

 

 

Before performing position control (setting position control block diagram), the users should complete 

the speed control setting by using Manual mode (parameter P-32) since the position loop contains 

speed loop. Then, adjust the Proportional Position Loop Gain, KPP (parameter P2-00) and Position 

Feed Forward Gain, PFG (parameter P2-02). Or use Auto mode to adjust the gain of speed and position 

control block diagram automatically.  

1)  Proportional Position Loop Gain: To increase this gain can enhance the position loop 

responsiveness. 

2)  Position Feed Forward Gain: To increase this gain can reduce the position track error during 

operation. 

The position loop responsiveness cannot exceed the speed loop responsiveness, and it is 

recommended that the speed loop responsiveness should be at least four times faster than the position 

loop responsiveness. This also means that the setting value of Proportional Speed Loop Gain, KVP 

should be at least four times faster than Proportional Position Loop Gain, KPP.  

The equation is shown as follows:  

fp < fv

4

, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)  

KPP = 2 × 

π × fp.