Gain Adjustment Mode 3 - Delta ASDA-A3 Series User Manual

ASDA-A3

5.5.5 Gain adjustment mode 3

When Gain adjustment modes 1 and 2 cannot meet the requirements, try Gain adjustment
mode 3 to tune the servo system. P2.089 (Command response gain) is available for manual
adjustment in this mode. You can increase the gain value to shorten the response and settling
time for the position command. However, if you set the parameter value too high, it might cause
position overshoot and machinery vibration. This parameter is effective only when the
commands are changing, such as in the acceleration / deceleration application, and adjusting
this parameter can improve the response. However, when the two degree of freedom control
function is disabled (P2.094 [Bit 12] is set to 0), the effect of Gain adjustment mode 3 is the
same as that of Gain adjustment mode 2, so setting P2.089 is invalid in that scenario.
P2.032 Adjustment mode
Gain adjustment
mode 3
(Available when
3
two degree of
freedom control
function is
enabled)
Inertia
Mode name
estimation
Level
adjustment -
Fixed set value
Two degree of P1.037
of freedom
Parameter
Manual Auto
P2.000, P2.004,
P2.006, P2.023,
P2.024, P2.025,
P1.037
P2.043, P2.044,
P2.031
P2.045, P2.046,
P2.089
P2.049, P2.098,
P2.099, P2.101,
P2.102
Tuning
5
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