Delta Electronics ASDA-A2 Series User Manual page 141

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Chapter 5 Trial Run and Tuning Procedure
5.6.8 Gain Adjustment in Manual Mode
The position and speed frequency response selection is depending on and determined by
the the control stiffness of machinery and conditions of applications. Generally, high
reponsiveness is essential for the high frequency positioning control of mechanical
facilities and the applications of high precision process system. However, the higher
frequency response may easily result in the resonance of machinery system. Therefore,
for the applications of high frequency response, the machinery system with control
stiffness is needed to avoid the resonance. Especially when adjusting the frequency
response of unfamiliar machinery system, the users can gradually increase the gain
setting value to improve frequency response untill the resonance occurs, and then
decrease the gain setting value. The relevant parameters and gain adjusting methods are
described as follows:
KPP, Parameter P2-00 Proportional Position Loop Gain

This parameter is used to determine the frequency response of position loop
(position loop gain). It could be used to increase stiffness, expedite position loop
response and reduce position error. When the setting value of KPP is higher, the
response to the position command is quicker, the position error is less and the
settling time is also shorter. However, if the setting value is over high, the machinery
system may generate vibration or noise, or even overshoot during positioning. The
position loop frequency response is calculated as follows:
KVP, Parameter P2-04 Proportional Speed Loop Gain

This parameter is used to determine the frequency response of speed loop (speed
loop gain). It could be used to expedite speed loop response. When the setting value
of KVP is higher, the response to the speed command is quicker. However, if the
setting value is over high, it may result in the resonance of machinery system. The
frequency response of speed loop must be higher than the 4~6 times of the
frequency response of position loop. If frequency response of position loop is higher
than the frequency response of speed loop, the machinery system may generate
vibration or noise, or even overshoot during positioning. The speed loop frequency
response is calculated as follows:
5-24
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JM: Motor Inertia
JL: Load Inertia
P1-37: 0.1 times
Revision January 2011
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