Proportional Speed Loop Gain; Manual Mode - Delta Electronics ASDA-A Series User Manual

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Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can
be adjusted]
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3 or #5, the system will save the measured load inertia
2. When switching mode #2 or #4 to #0, it indicates all automatically measured load inertia
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value in P1-37.
4. When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to
5. When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26

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
Default: 500
Applicable Control Mode: ALL
Unit: rad/s
Range: 0 ~ 20000 (ASDA-A series)
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.
6-22
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value automatically and memorized in P1-37. Then, set the corresponding parameters
according to this measured load inertia value.
value will be aborted, and all setting of parameters will be returned to original setting value in
#0 manual mode.
the value that measured in #3 auto-tuning mode.
will change to the value that measured in #5 auto-tuning mode

Proportional Speed Loop Gain

0 ~ 4095 (ASDA-A+ series)
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Related Section:
Section 6.3.6
Revision April 2009
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