Tuning In Manual Mode - Delta ASD-A2-0121 Series User Manual

Chapter 5 Trial operation and Tuning

5.6.8 Tuning in Manual Mode

The selection of position or speed response bandwidth should be determined by the machinary
stiffness and applications. Generally speaking, machines that requrie high-frequency positioning or
high precision need higher response bandwidth. However, it might easily cause the resonance.
And the machinary with higher sitffness is needed to avoid the resonance. When using the
unknown response bandwidth machinary, users could gradually increase the gain setting value to
increase the response bandwidth. Then, decrease the gain setting value until the resonance exists.
The followings are the related descriptions of gain adjustment.
Position control gain (KPP, parameter P2-00)

This parameter determines the response of position loop. The bigger KPP value will cause the
higher response bandwidth of position loop. And it will cause better following error, smaller
position error, and shorter settling time. However, if the value is set too high, the machinery
will vibrate or overshoot when positioning. The calculation of position loop response bandwidth
is as the following:
Speed control gain (KVP, parameter P2-04)

This parameter determines the response of speed loop. The higher KVP value will cause the
higher response bandwidth of speed loop and better following error. However, if the value is
set too high, it would easily cause machinery resonance. The response bandwidth of speed
loop must be 4 ~ 6 times higher than the response bandwidth of position loop. Otherwise, the
machinery might vibrate or overshoot when positioning. The calculation of speed loop
response bandwidth is as the following:
Response bandwidth of speed loop (Hz) = (
JM: Motor Inertia; JL: Load Inertia; P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real speed loop
response bandwidth will be:
Response bandwidth of speed loop (Hz) = (
5-20
Response bandwidth of position loop ( Hz ) =
KPP
2π
KVP ( 1+P1−37/10 )
) × [ ]
( 1+JL/JM )
2π
( 1 + P1.037/10 )
KVP
) × [
( 1 + JL/JM )
2π
ASDA-A2
]