Pi Structure (P2-32) - Delta Electronics ASDA-B Series User Manual

Chapter 6 Control Modes of Operation|ASDA-B Series
There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-B series
servo drives can be adjusted by using any one of two tuning modes.
Manual Mode:
User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be
disabled.
Auto Mode:
Continuous adjustment of loop gains according to measured inertia automatically.
In Auto mode, if the users change the setting value of P2-31, the setting value of the parameters listed
in the Table 6.4 and 6.5 will also be changed.
Stiffness
Speed Loop
Setting
Responsive-
ness (Hz)
P2-31
0 10
1 5
2 20
3 25
4 30
5 35
6 45
7 55
8 65
9 80
A 100
B 120
C 145
D 170
E 205
F 250
6-16

PI Structure (P2-32)

Proportional Proportional
Position Loop Speed Loop
Gain P2-00 Gain P2-04
10 62
15 94
20 125
25 157
30 188
35 219
45 282
55 345
65 408
80 502
100 628
120 753
145 911
170 1068
205 1288
250 1570
Table 6.D
Low-pass
Filter Time
Speed Integral
Constant
Compensation
(Resonance
P2-06
Suppression)
P2-25
10 125
15 83
20 62
25 50
30 41
35 35
45 27
55 22
65 19
80 15
100 12
120 10
145 8
170 7
205 6
250 5
External Anti-
Interference
Gain P2-26
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Revision January, 2009