Delta ASD-A2-0121 Series User Manual page 231

Chapter 6 Control Mode of Operation
Data Size： 16-bit
Format： Hexadecimal
Settings: 0: Manual Mode
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral Compensation
(P2-06), and Speed Feed Forward Gain (P2-07). Influence of each parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response bandwidth of speed
loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of speed loop,
reduce the steady-state error and sacrifice the phase margin. The overhigh integral
gain will cause the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
6-34
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non-continuous adjustment)
Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such as
P2-00, P2-04, P2-06, P2-07, P2-25, and P2-26, all can be set by the
user.
When switching mode from auto or semi-auto to manual, parameters
about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to P1-37
every 30 minutes automatically and refer to the stiffness and bandwidth
setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2, the
system will save the estimated inertia value to P1-37 automatically
and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from manual
mode 0, please set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00, P2-04,
P2-06, P2-25, P2-26, and P2-49 will be modified to the
corresponding parameters of auto mode.
4. Set the system to manual mode 0 from semi-auto mode 2, P2-00,
P2-04, P2-06, P2-25, P2-26, and P2-49 will be modified to the
corresponding parameters of semi-auto mode.
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1 and
the system stops estimating. The inertia value will be saved to
P1-37 automatically. When switching mode to semi-auto mode
(from manual or auto mode), the system starts to estimate again.
2. When the system inertia is over the range, the value of P2-33 will
be 0 and the system starts to estimate and adjust again.
ASDA-A2