Delta ASDA-A3 Series User Manual page 275

Tuning
Perform the inertia estimation according to the following descriptions.
Set the system to the Servo ON state.
1.
The default jog speed is 20 rpm and the default acceleration / deceleration time is 200 ms.
5 2.
For mechanical parts with finite traveling range, low speed movement reduces the risk of
collision. Executing positioning between two points at low speed is recommended. For
mechanical parts with longer traveling range or without limits, you can set the movement
speed higher. After completing the settings, click the
the Left (
Check the acceleration / deceleration time and jog speed again. It is advisable to set the
3.
jog speed to no less than 500 rpm. Then click the
is complete, click Start Moving, and the motor regards Position 1 and Position 2 as the
positive and negative limits and starts rotating in the forward and reverse directions.
After the estimation is complete, click Stop Moving and then Download to download the
4.
estimated load inertia ratio to the servo drive.
Since the new inertia ratio (weight) causes a change in the equivalent bandwidth,
5.
resonance may occur in the system. Thus, you need to use the Gain Tuning function to
set the bandwidth and gain again when writing the new inertia ratio to the system.
5-8
) or Right ( ) button to rotate the motor to Position 1 and Position 2.
1. Set the Servo to
Servo ON.
2. Download the speed
settings to the servo
drive.
3. Set the two positioning
points and click Start
Moving.
4. After the estimation is
done, click Stop
Moving and then
Download to download
the data to the servo
drive.
ASDA-A3
button, and then use
button. After the download