Delta ASDA-B2 Series User Manual page 111

Chapter 5 Trial Operation and Tuning

Low-pass filter of resonance suppression (NLP, parameter P2-25)
The high value of inertia ratio will reduce the frequency response of speed loop.
Therefore, the KVP value must be increased to maintain the response frequency.
During the process of increasing KVP value, it might cause machinary resonance.
Please use this parameter to elimiate the noise of resonance. The bigger the value is,
the better the capability of improving high-frequency noise will be. However, if the
value is set too big, it would cause the unstability of speed loop and overshoot.
It is suggested to set the value as the following:

Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and
gradually eliminate overshoot during acceleration / deceleration. Its default value is 0.
It is suggested not to adjust the value in manual mode, unless it is for fine-tuning.

Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is
set too big, it might cause overshoot. If the setting of e-gear ratio is bigger than 10,
it might cause the noise as well.
5-20
ASDA-B2
Revision May, 2018