Delta Electronics ASDA-B Series Manual Do Utilizador

Chapter 6  Control Modes of Operation|ASDA-B Series

 

6-6  

 

Revision January, 2009

 

Electronic Gear Ratio 

Corresponding travel distance per pulse 

When the electronic 
gear ratio is not used 

=

1
1

 

= 3x 100 0

4x 250 0

= 300 0

100 00

m

 

When the electronic 
gear ratio is not used 

= 1000 0

300 0

 

=1   m

 

Table 6.B 

 

Relevant parameters: 

Default: 0 

Related Section: 

Applicable Control Mode: P 

Section 6.2.5 

Unit: 10ms 

 

Range: 0 ~ 1000 (0: Disabled) 

 

PF LT

Tar get pos ition

Position

Time (ms)

 

 

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.