Delta ASDA-A2 Series User Manual page 202

Explanation of semi-auto tuning mode:
1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-
25 and P2-26 will change to the value that measured in #1 auto-tuning mode.
2. After the system inertia becomes stable (The displau of P2-33 will show 1), it
will stop estimating the system inertia, save the measured load inertia value
automatically, and memorized in P1-37. However, when P2-32 is set to
mode#1 or #2, the servo drive will continuously perform the adjustment for a
period of time.
3. When the value of the system inertia becomes over high, the display of P2-33
will show 0 and the servo drive will start to adjust the load inertia value
continuously.
Manual Mode
When Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional
speed loop gain (P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of
load inertia to servo motor Inertia (1-37). Please refer to the following description:
Proportional gain: Adjust this gain can increase the position loop responsiveness.

Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed

loop and eliminate the steady error. Also, reduce the value of phase margin. Over
high integral gain will result in the unstable servo system.
Feed forward gain: Adjust this gain can decrease the phase delay error

Relevant parameters:
P2-04 KVP
Operation
Interface:
Default: 500
Control
Mode:
Range: 0 ~ 8191
Data Size: 16-bit
Display
Format:
Settings:
This parameter is used to set the speed loop gain. When the value of
proportional speed loop gain is increased, it can expedite speed loop response.
However, if the setting value is over high, it may generate vibration or noise.
Revision September 2012
Proportional Speed Loop Gain
Keypad/Software
ALL
Unit: rad/s
Decimal
Chapter 6 Control Modes of Operation
Communication
Address: 0208H
0209H
Related Section:
Section 6.3.6
6-35