Relationship Between Tuning Modes And Parameters; Gain Adjustment In Manual Mode - Delta Electronics AC Servo Drive ASDA-AB User Manual

5.6.7 Relationship between Tuning Modes and Parameters

Tuning Mode
Manual Mode
AutoMode (PI)
[Continuous]
AutoMode (PI)
[Fixed Inertia] (The
inertia ratio is
determined by P1-
37)
AutoMode (PDFF)
[Continuous]
AutoMode (PDFF)
[Fixed Inertia] (The
inertia ratio is
determined by P1-
37)
When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value
that measured in #3 auto-tuning mode.
When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will change
to the value that measured in #5 auto-tuning mode

5.6.8 Gain Adjustment in Manual Mode

The position and speed responsiveness 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 responsiveness may easily result in the resonance of machinery system.
Therefore, for the applications of high responsiveness, the machinery system with control stiffness is
needed to avoid the resonance. Especially when adjusting the responsiveness of unfamiliar machinery
system, the users can gradually increase the gain setting value to improve responsiveness untill the
resonance occurs, and then decrease the gain setting value. The relevant parameters and gain
adjusting methods are described as follows:
Revision January 2009
Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series
AutoSet
P2-32
Parameter
0(Default
None
setting)
P2-00
2 P2-04
P2-06
P2-00
3 P2-04
P2-06
P2-00
P2-04
4
P2-06
P2-25
P2-26
P2-00
P2-04
5 P2-06
P2-25
P2-26
User-defined Parameter
P2-00 (Proportional Position Loop Gain)
P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-31 Value B (Level of Responsiveness)
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 Value B (Level of Responsiveness)
Gain Value
Fixed
Continuous
Adjusting
Fixed
Continuous
Adjusting
Fixed
5-23