Flowchart Of Semi-Auto Tuning - Delta ASD-A2R-0221 Series User Manual

Chapter 5 Trial Operation and TuningASDA-A2R Series

5.6.4 Flowchart of Semi-auto Tuning

Description of Semi-auto Tuning:
Set P2-32 to 2. After tuning for a while and wait until the system inertia is stable, it stops
estimating. The estimated inertia ratio will be saved to P1-37. When switching mode from
manual or auto to semi auto, the system starts tuning again. During the process of
estimation, the system will refer the stiffness and bandwidth setting of P2-31. Increase
the value of P2-31 to increase the response or decrease to reduce the noise. Continue to
tune until the performance is satisfied. Then, tuning is completed.
P2-31: Response setting in auto mode (The default value is 80). The bigger the value is,
the better the response will be.
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1~50Hz: low-stiffness, low-response
51~250Hz: medium-stiffness, medium-response
251~850Hz: high-stiffness, high-response
851~1000Hz: extremely high-stiffness, extremely high-response
Note:
1. Note: Inertia ratio is for rotary motor; while total weight of movable section and
load (kg) is for linear motor
2. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode is
completed. The result can be accessed by P1-37. If the value of P2-33 bit 0 is
cleared to 0, the system will start to estimate again.
5-16 Revision December, 2014