Tuning In Manual Mode; Position Control Gain (Kpp, Parameter P2-00); Speed Control Gain (Kvp, Parameter P2-04); Speed Integral Compensation (Kvi, Parameter P2-06) - Delta ASDA-A2 User Manual

Chapter 5 Trial operation and Tuning

5.6.8 Tuning in Manual Mode

The selection of position / speed response frequency should be determined by the machinary
stiffness and application. General speaking, the high-frequency machinary or the one requries
precise processing needs the higher response frequency. However, it might easily cause the
resonance. And the stronger stiffness machinary is needed to avoid the resonance. When using
the unknown resonse frequency machinary, users could gradually increase the gain setting value
to increase the resonse frequency. Then, decrease the gain setting value until the resonance
exists. The followings are the related descriptions of gain adjustment.


Position control gain (KPP, parameter P2-00)

This parameter determines the response of position loop. The bigger KPP value will cause the
higher response frequency of position loop. And it will cause better following error, smaller
position error, and shorter settling time. However, if the value is set too big, the machinery will
vibrate or overshoot when positioning. The calculation of position loop frequency response is
as the following:
Position Loop Frequency Response Hz


Speed control gain (KVP, parameter P2-04)

This parameter determines the response of speed loop. The bigger KVP value will cause the
higher response frequency of speed loop and better following error. However, if the value is
set too big, it would easily cause machinery resonance. The response frequency of speed loop
must be 4~6 times higher than the response frequency of position loop. Otherwise, the
machinery might vibrate or overshoot when positioning. The calculation of speed loop
frequency response is as the following:
Speed Loop Frequency Response fv
JM: Motor Inertia; JL: Load Inertia; P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real speed loop
frequency response will be: fv


Speed integral compensation (KVI, parameter P2-06)

The higher the KVI value is, the better capability of eliminating the deviation will be. However,
if the value is set too big, it might easily cause the vibration of machinery. It is suggested to set
the value as the following:
KVI P2 06 1.5
5-20
Hz
Speed Loop Frequency Response
/
Hz
/
ASDA-A2
Revision February, 2017