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Chapter 6 Control Modes of Operation|ASDA-AB Series
Revision January 2009 6-21
Proportional gain: Adjust this gain can increase the position loop responsiveness.
Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and
eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will
result in the unstable servo system.
Feed forward gain: Adjust this gain can decrease the phase delay error
Relevant parameters:
P2 - 04
KVP Proportional Speed Loop Gain Communication Addr.: 0204H
Default: 500 Related Section:
Applicable Control Mode: P/S Section 6.3.6
Unit: rad/s
Range: 0 ~ 20000
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can expedite speed loop response. However, if the setting value is over high,
it may generate vibration or noise.
P2 - 06
KVI Speed Integral Compensation Communication Addr.: 0206H
Default: 100 Related Section:
Applicable Control Mode: P/S Section 6.3.6
Unit: N/A
Range: 0 ~ 4095
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed integral
compensation is increased, it can improve the speed response ability and decrease the speed
control deviation. However, if the setting value is over high, it may generate vibration or noise.
P2 - 07
KVF Speed Feed Forward Gain Communication Addr.: 0207H
Default: 0 Related Section:
Applicable Control Mode: S Section 6.3.6
Unit: 0.0001
Range: 0 ~ 20000
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.