Delta Electronics ASDA-B Series - Manual (Page 135)

Chapter 6 Control Modes of Operation|ASDA-B Series
6-20 Revision January, 2009
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
Gain
Frequency Frequency
Frequency Frequency
Phase Phase