Delta ASDA-B2-F Series User Manual page 106

ASDA-B2-F
Generally, instrument is needed when applying frequency domain for measurement. Users are
required to adopt the measurement techniques; while time domain only needs a scope and goes
with the analog input/output terminal provided by the servo drive. Thus, time domain is frequently
used to adjust PI controller. The abilities of PI controller to deal with the resistance of torque load
and the following command are the same.
That is to say, the following command and resistance of torque load have the same response
performance in frequency domain and time domain. Users can reduce the bandwidth by setting
the low-pass filter in command end.
Auto Mode
Auto mode adopts adaptive principle. The servo drive automatically adjusts the parameters
according to the external load. Since the adaptive principle takes longer time, it will be unsuitable
if the load changes too fast. It would be better to wait until the load inertia is steady or changes
slowly. Depending on the speed of signal input, the adaptive time will be different from one
another.
馬 達 轉 速
Motor Speed
慣 量 估 測
Inertia Measurement
September, 2015
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Control Mode of Operation
If the KVF value closes to 1, the feed forward
compensation will be more complete and the
dynamic following error will become smaller.
However, if the KVF value is set to be too big,
it would cause vibration.
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