Flowchart Of Auto Tuning - Delta ASD-A2-0121 Series User Manual

Chapter 5 Trial operation and Tuning

5.6.3 Flowchart of Auto Tuning

Set P2-32 to 1 (auto mode, continuous tuning)
Continue to estimate the system inertia. Automatically save the value in P1-37 every 30 minutes
and refer the stiffness and bandwidth setting of P2-31.
P2-31 Stiffness setting in auto tuning mode (The default value is 80)
In auto and semi-auto modes, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
851 ~ 1000 Hz: extremely high-stiffness, extremely high-response
Stiffness setting in auto tuning mode: the bigger the value is, the stronger the stiffness will be.
Adjust the value of P2-31: Increase the value of P2-31 to increase stiffness or decrease to reduce
the noise. Continue to tune until the performance is satisfied. Then, tuning is complete.
1. Decrease the value of P2-31 to reduce the
noise.
2. If not decrease the value of P2-31, then
adjust the value of P2-23 and P2-24 to
suppress the resonance.
(Please refer to Chapter 5.6.6)
* refers to"the inertia ratio"for rotary motors or"the total weight (kg) of the coil assembly, magnetic way,
and load "for linear motors.
5-14
Servo off. Set P2-32 to 1. Then, Servo on.
Set P0-02 to 15. The panel
will display inertia ratio*.
Alternately accelerate and
decelerate.
Yes
Any
resonance?
No
Satisfactory
performance?
No
High response
is required?
Yes
Increase the value of P2-31
to increase the response and
stiffness.
Yes
Tuning
completed.
No
ASDA-A2