Delta ASD-A2 Series User Manual page 188

ASDA-A2
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral Compensation
(P2-06) and Speed Feed Forward Gain (P2-07). Influence of each parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of speed
loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of speed loop,
reduce the steady-state error and sacrifice the phase margin. The over high integral gain will cause
the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
Relevant parameters:
P2-04 KVP
Operational
Interface：
Default： 500
Control
Mode：
Unit： rad/s
Range： 0 ~ 8191
Data Size： 16-bit
Format： Decimal
Settings： Increase the value of speed loop gain can enhance the speed
P2-06 KVI
Operational
Interface：
Default： 100
Revision February, 2017
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1 and
the system stops estimating. The inertia value will be saved to P1-
37 automatically. When switching mode to semi-auto mode (from
manual or auto mode), the system starts to estimate again.
2. When the system inertia is over the range, the value of P2-33 will
be 0 and the system starts to estimate and adjust again.
Speed Loop Gain
Panel / Software
ALL
response. However, if the value is set too big, it would easily cause
resonance and noise.
Speed Integral Compensation
Panel / Software
Chapter 6 Control Mode of Operation
Communication
Communication
Address: 0208H
0209H
Related Section:
6.3.6
Address: 020CH
020DH
Related Section:
6.3.6
6-33