Parameters Related To Auto Tuning; Automatic Gain Adjustment Level 1 (P2.105) - Stiffness Adjustment - Delta ASDA-B3 Series User Manual

Tuning

5.4.5 Parameters related to auto tuning

Before the auto gain adjustment starts, first set the automatic gain adjustment level 1 (P2.105)
5
and automatic gain adjustment level 2 (P2.106), which are only available for Auto Tuning.

5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment

P2.105 defines the servo stiffness after auto tuning. The higher the setting value, the greater the
bandwidth after auto tuning. On the other hand, the system margin becomes smaller, which
means resonance is more likely to occur when the system is degrading. You can first use
P2.105's default setting of 11 and then change the setting according to the following conditions.
It is advisable to increase P2.105 if the machine has all the following characteristics.
1.
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It is advisable to decrease P2.105 if the machine has one of the following characteristics.
2.
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Command position
Feedback position
5-24
The load inertia (weight) changes slightly during machine operation.
Connected to transmission components with high stiffness (for example, they are
direct-coupled or connected with couplings).
The machine requires high responsiveness.
The load inertia (weight) changes constantly during machine operation (such as
transport equipment and robot arms).
The machine has a transmission component with long strokes (such as a lead screw
with the length of 3 m or longer or a belt with the length of 1 m or longer).
P2.105 = 1 P2.105 = 11
Command position
Feedback position
ASDA-B3