Delta ASDA-A3 Series User Manual page 160

ASDA-A3

Low-pass filter for resonance suppression (NLP, parameter P2.025)
A high inertia ratio reduces the response bandwidth of the speed loop. Therefore, you
must increase the KVP value to maintain the response bandwidth. Increasing the KVP
value might cause sound due to mechanical resonance. Please use this parameter to
eliminate the noise from resonance. The higher the value, the better the capability for
reducing high-frequency noise. However, if you set the value too high, it can cause
instability in the speed loop and overshoot in positioning. It is suggested that you set the
value as follows:
 Anti-interference gain (DST, parameter P2.026)
Use this parameter to increase the ability to resist external force and eliminate overshoot
during acceleration / deceleration. The default value is 0. Adjusting this value in Manual
mode is not suggested unless it is for fine-tuning.
Note: to use this parameter, disable the two dimensional control function (set P2.094 [Bit 12] to 0).
 Position feed forward gain (PFG, parameter P2.002)
This parameter can reduce the position error and shorten the settling time. However,
if you set the value too high, it might cause overshoot in positioning. If the setting of the
E-Gear ratio is larger than 10, it might cause noise as well.
Note: to use this parameter, disable the two dimensional control function (set P2.094 [Bit 12] to 0).
NLP ≤
6 × Speed loop response bandwidth (Hz)
10000
Tuning
5
5-21