Gain Adjustment Of Speed Loop - Delta ASD-A2R-0221 Series User Manual

6.3.6 Gain Adjustment of Speed Loop

Here introduces the function of speed control unit. The following shows its structure.
※ Inertia ratio is for rotary motor; while total weight of movable section and load is for
linear motor.
Many kinds of gain in speed control unit are adjustable. Two ways, manual and auto, are
provided for selection.
Manual: All parameters are set by users and the auto or auxiliary function will be disabled
in this mode.
Auto: General load inertia estimation is provided. It adjusts the parameter automatically.
Its framework is divided into PI auto gain adjustment and PDFF auto gain
adjustment.
Related parameter: Please refer to Chapter 8 for further information.
Parameter P2-32 can be used to adjust the gain.
Parameter Abbr.
P2-32
Revision December, 2014
Chapter 6 Control Mode of Operation ASDA-A2R Series
AUT2 Tuning Mode Selection
Rotary motor:：
Function
6-21