Delta ASD-A2-0121 Series User Manual page 196

ASDA-A2
Speed integral compensation (KVI, parameter P2-06)

The higher the KVI value is, the better the capability of eliminating the deviation will be.
However, if the value is set too big, it might easily cause the vibration of machinery. It is
suggested to set the value as the following:
Low-pass filter of resonance suppression (NLP, parameter P2-25)

The high value of inertia ratio will reduce the response bandwidth of speed loop. Therefore,
the KVP value must be increased to maintain the response bandwidth. During the process of
increasing the KVP value, it might cause machinary resonance. Please use this parameter to
elimiate the noise of resonance. The higher the value is, the better the capability of reducing
high-frequency noise will be. However, if the value is set too high, 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 and 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
high, it might cause overshoot. If the setting of e-gear ratio is bigger than 10, it might cause
the noise as well.
KVI ≤ 1.5 × Response bandwidth of speed loop(Hz)
NLP ≤
6 ×Response bandwidth of speed loop (Hz)
Chapter 5 Trial operation and Tuning
10000
5-21