Delta-electronics AC Servo Drive ASDA-B Manuel d'utilisateur télécharger pdf (Page 135)

Chapter 6 Control Modes of Operation|ASDA-B Series

6-20 Revision February 2008, Doc. Name: 2006PDD23000009

AutoMode, the value of this parameter will be changed in accordance with the setting value of

parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6).

Time constant of speed integral compensation: (1000/KVI) ms

P2 - 07

SFG Speed Feed Forward Gain Communication Addr.: 0207H

Default: 0 Related Section:

Applicable Control Mode: S Section 6.3.6

Unit: %

Range: 0 ~ 100

Settings:

This parameter is used to set the feed forward gain when executing speed control command.

When using speed smooth command, increase gain can improve speed track deviation.

When not using speed smooth command, decrease gain can improve the resonance condition of

mechanical system.

In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and

feed forward gain (SFG). Now we use frequency area and time area respectively to explain the logic.

Frequency Domain

KVP

KVI

KVP

KVI

STEP 1: Set the value of KVI=0,

KVF=0 and adjust the value of KVP.

the value of STEP 2 Fix the value of KVP and adjust the

value of KVI.

：

Gain

Frequency Frequency

Frequency

Phase

1 2 ... 130 131 132 133 134 135 136 137 138 139 140 ... 320 321

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Delta-electronics AC Servo Drive ASDA-B Manuel d'utilisateur Page 135