Delta ASDA-A3 Series User Manual page 289

Tuning
Follow these steps to set the motor running path:
1. Set P2.015 and P2.016 based on the application condition. Refer to Section 5.4.5 for details.
◼ P2.105: the higher the setting value, the higher the bandwidth after auto tuning, which is
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applicable to devices with high stiffness or high response. On the other hand, the lower
the setting value, the lower the bandwidth after auto tuning, which is applicable to
devices with complex structure or low stiffness.
◼ P2.106: the lower the setting value, the smaller the overshoot after auto tuning. But if
the setting value is too low, the settling time may be too long.
2. Set the system to the Servo ON state.
3. The default jog speed is 20 rpm and the default acceleration / deceleration time is 200 ms.
For mechanical parts with finite traveling range, low speed movement reduces the risk of
collision. Executing positioning with 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
Left (
4. Check the acceleration / deceleration time and jog speed again. It is advisable to set the jog
speed to no less than 500 rpm. Then click the
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.
5. After completing the settings, make sure no personnel is standing close to the machinery.
Then, click Next.
6. If the tuning results do not meet the requirements, modify the setting values of P2.015 and
P2.016, or refer to Section 5.6 to manually adjust certain parameters and then perform the
auto tuning again.
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) or Right ( ) button to rotate the motor to Position 1 and Position 2.
button, and then use the
button. After the download is
2. Set the Servo to
Servo ON.
3. Download the
speed settings to
the servo drive.
4. Set the two
positioning
points and click
Start Moving.
ASDA-A3