Delta ASDA-A2 Series User Manual page 201

Chapter 6 Control Modes of Operation
There are two turning modes of gain adjustment: Manual and Auto modes. The gain of
ASDA-A2 series servo drives can be adjusted by using any one of two tuning modes.
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto

and auxiliary function will be disabled.
Auto Mode: Continuous adjustment of loop gains according to measured inertia,

with ten levels of system bandwidth. The parameter set by user is default value.
The mode of gain adjustment can be selected by parameter P2-32:
Relevant Parameter:
P2-32▲ AUT2
Operation
Interface:
Default: 0
Control
Mode:
Range: 0 ~ 2
Data Size: 16-bit
Display
Format:
Settings:
0: Manual mode
1: Auto Mode [Continuous adjustment]
2: Semi-Auto Mode [Non-continuous adjustment]
Explanation of manual mode:
1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06,
P2-07, P2-25 and P2-26 can be user-defined. When switching mode #1 or #2
to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-
26 will change to the value that measured in #1 auto-tuning mode or #2
semi-auto tuning mode.
Explanation of auto-tuning mode:
The servo drive will continuously estimate the system inertia, save the measured
load inertia value automatically and memorized in P1-37 every 30 minutes by
referring to the frequency response settings of P2-31.
1. When switching mode #1 or #2 to #0, the servo drive will continuously
estimate the system inertia, save the measured load inertia value
automatically and memorized in P1-37. Then, set the corresponding
parameters according to this measured load inertia value.
2. When switching mode#0 or #1 to #2, enter the appropriate load inertia value
in P1-37.
3. When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06
will change to the value that measured in #1 auto-tuning mode.
6-34
Tuning Mode Selection
Keypad/Software
ALL
Unit: N/A
Hexadecimal
Communication
Address: 0240H
0241H
Related Section:
Section 5.6,
Section 6.3.6
Revision September 2012