Gain Adjustment In Manual Mode - Delta ASDA-A2 Series User Manual

5.6.8 Gain Adjustment in Manual Mode

The position and speed frequency response selection is depending on and determined by the the
control stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential
for the high frequency positioning control of mechanical facilities and the applications of high precision
process system. However, the higher frequency response may easily result in the resonance of
machinery system. Therefore, for the applications of high frequency response, the machinery system
with control stiffness is needed to avoid the resonance. Especially when adjusting the frequency
response of unfamiliar machinery system, the users can gradually increase the gain setting value to
improve frequency response untill the resonance occurs, and then decrease the gain setting value. The
relevant parameters and gain adjusting methods are described as follows:
KPP, Parameter P2-00 Proportional Position Loop Gain
This parameter is used to determine the frequency response of position loop (position loop gain).
It could be used to increase stiffness, expedite position loop response and reduce position error.
When the setting value of KPP is higher, the response to the position command is quicker, the
position error is less and the settling time is also shorter. However, if the setting value is over high,
the machinery system may generate vibration or noise, or even overshoot during positioning. The
position loop frequency response is calculated as follows:
KVP, Parameter P2-04 Proportional Speed Loop Gain
This parameter is used to determine the frequency response of speed loop (speed loop gain). It
could be used to expedite speed loop response. When the setting value of KVP is higher, the
response to the speed command is quicker. However, if the setting value is over high, it may
result in the resonance of machinery system. The frequency response of speed loop must be
higher than the 4~6 times of the frequency response of position loop. If frequency response of
position loop is higher than the frequency response of speed loop, the machinery system may
generate vibration or noise, or even overshoot during positioning. The speed loop frequency
response is calculated as follows:
When the value of P1-37 (no matter it is the measured load inertia value or the set load inertia
value) is equal to the actual load inertia value, the actual speed loop frequency response will be:
K VP
= H z
2
Revision April, 2010
Chapter 5 Trial Run and Tuning Procedure|ASDA-A2 Series
.
JM: Motor Inertia
JL: Load Inertia
P1-37: 0.1 times
5-23