Delta ASDA-A3 Series User Manual page 304

ASDA-A3
When P1.037 (auto estimation or manually set value) is equal to the actual load inertia
ratio (JL / JM), the actual speed loop bandwidth is:
◼ Speed integral compensation (KVI, P2.006)
The higher the KVI value, the better the elimination of the deviation. However, if you set
the value too high, it can cause machine jitter. It is advisable to set the value as follows:
◼ Resonance suppression low-pass filter (NLP, P2.025)
A high load inertia ratio reduces the speed loop bandwidth. Therefore, you must
increase the KVP value to maintain the speed loop bandwidth. Increasing the KVP
value might cause mechanical resonance. Use this parameter to eliminate the noise.
The higher the value, the better the capability of reducing high-frequency noise.
However, if you set the value too high, it can cause instability in the speed control circuit
and overshoot. It is advisable to set the value as follows:
◼ Anti-interference gain (DST, P2.026)
Use this parameter to increase the ability to resist external force and reduce overshoot
during acceleration / deceleration. The default value is 0. Adjusting this value in Manual
mode is not suggested unless it is for fine-tuning the results of auto tuning.
Note: this gain parameter is not available when the two degree of freedom control function is
enabled (P2.094 [Bit 12] = 1).
◼ Position feed forward gain (PFG, 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 when positioning. When the
resolution of the pulse command is low, adjusting this parameter might cause noise. In
this case, try using P2.003, P1.008, and P1.068 to eliminate the noise.
Speed loop bandwidth (Hz) = (
KVI ≤ 1.5 × Speed loop bandwidth (Hz)
10000
NLP ≤
6 × Speed loop bandwidth (Hz)
KVP
)
2π
Tuning
5
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