Tuning In Manual Mode - Delta ASD-A2R-0221 Series User Manual

Chapter 5 Trial Operation and TuningASDA-A2R Series

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)
Description 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.
Note If the value is set too big, the machinery will vibrate or overshoot when
positioning.
Calculation
Speed control gain (KVP, parameter P2-04)
Description 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.
Note 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.
Calculation
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real speed
loop frequency response will be:
Speed integral compensation (KVI, parameter P2-06)
Description The higher the KVI value is, the better capability of eliminating the
deviation will be.
Note If the value is set too big, it might easily cause the vibration of machinery.
Calculation
5-22
K VP
= H z
2
JM: motor inertia
JL: load inertia
P1-37: 0.1 times
Revision December, 2014