Delta ASD-A2-0121 Series User Manual page 240

ASDA-A2
Settings： Set the low-pass filter of resonance suppression. When the value is set
Feed Forward
Gain
Differentiator
P2-07
PI Controller
P2-04, P2-06
There are two sets of auto resonance suppression, one is P2-43 and P2-44 and the other is P2-45
and P2-46. When the resonance occurs, set P2-47 to 1 or 2 (enable the function of resonance
suppression), the servo drive searches the point of resonance frequency and suppresses the
resonance automatically. Write the point of frequency into P2-43 and P2-45 and write the
attenuation rate into P2-44 and P2-46. When P2-47 is set to 1, the system will set P2-47 to 0
(disable the function of auto suppression) automatically after completing resonance suppression
and the system is stable for 20 minutes. When P2-47 is set to 2, the system will keep searching the
point of resonance.
When P2-47 is set to 1 or 2, but resonance still exists, please confirm the value of parameter
P2-44 and P2-46. If one of them is 32, it is suggested to reduce the speed bandwidth first and then
start to estimate again. If the value of both is smaller than 32 and resonance still exists, please set
P2-47 to 0 first and then manually increase the value of P2-44 and P2-46. It is suggested to reduce
the bandwidth if the resonance has not been improved. Then use the function of auto resonance
suppression.
When manually increasing the value of P2-44 and P2-46, please check if the value of both is
bigger than 0. If yes, it means the frequency point of P2-43 and P2-45 is the one searched by auto
resonance suppression. If the value of both is 0, it means the default, 1000 of P2-43 and P2-45 is
not the one searched by auto resonance suppression. Deepen the resonance suppression
attenuation rate might worsen the situation.
to 0, the function of low-pass filter is disabled.
Low-pass Filter
P2-25
Notch Filter 1
P2-23, P2-24
Speed Estimator
Chapter 6 Control Mode of Operation
Speed Control Unit
Notch Filter 2
Notch Filter 3
P2-43, P2-44
P2-45, P2-46
Auto Resonance Suppression Mode Setting
and Resonance Suppression Detection Level
P2-47, P2-48
Current
Sensor
Current Controller
PWM
Torque
Load
Motor
Encoder
6-43