Delta ASDA-B2-F Series User Manual page 89

Trial Operation and Tuning

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 high, it might easily cause vibration of machinery. It is
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suggested to set the value as follows.
KVI P2

Low-pass filter of resonance suppression (NLP, parameter P2-25)
High value of intertia ratio will reduce the frquency response of speed loop. Therefore, the
KVP value must be increased to maintain the response frequency. During the process of
increasing KVP value, it might cause machinary resonance. Please use this parameter to
elimiate the noise of resonance. The higher the value is, the better the capability of reducing
high-frequency noise will be. However, if the value is set too big, it would cause the
unstability of speed loop and overshoot. It is suggested to set the value as the following:
NLP P2

Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and gradually
eliminate overshoot during acceleration / deceleration. Its default value is 0. It is suggested
not to adjust the value in manual mode, unless it is for fine-tuning.

Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is set too
high, it might cause overshoot. If the setting value of e-gear ratio is higher than 10, it might
cause the noise as well.
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06 1.5 Speed Loop Frequency Response
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ASDA-B2-F
September, 2015