Limit Of Load Inertia Estimation; Relationship Between Tuning Modes And Parameters - Delta Electronics ASDA-A Series User Manual

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Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series

5.6.6 Limit of Load Inertia Estimation

The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be
above 200r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external
force and the inertia ratio can not be too much. In AutoMode (P2-32 is set to 3 or 5), it will stop
estimating the load inertia. The measured load inertia value will not be saved when the power is cut off.
When re-apply the power to the drive every time, the setting value of P1-37 is equal to the initial value of
load inertia value. But, the measured inertia value will be memorized in P1-37 automatically when:
(1) Switching AutoMode #2 to AutoMode #3
(2) Switching AutoMode #4 to AutoMode #5

5.6.7 Relationship between Tuning Modes and Parameters

Tuning Mode
Manual Mode
Easy Mode
AutoMode (PI)
[Continuous]
AutoMode (PI)
[Fixed Inertia]
(The inertia ratio
is determined by
P1-37)
AutoMode (PDFF)
[Continuous]
AutoMode (PDFF)
[Fixed Inertia]
(The inertia ratio
is determined by
P1-37)
When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value
that measured in #3 auto-tuning mode.
5-24
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AutoSet
P2-32
Parameter
P2-00 (Proportional Position Loop Gain)
0 P2-04 (Proportional Speed Loop Gain)
None
(Default P2-06 (Speed Integral Compensation)
setting)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-31 Value A (Level of Stiffness)
P2-04
P2-00 (Proportional Position Loop Gain)
1 P2-06
P2-25 (Low-pass Filter Time Constant of
P2-26
Resonance Suppression)
P2-00
P2-31 Value B (Level of Responsiveness)
2 P2-04
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-06
P1-37 (Ratio of Load Inertia to Servo Motor
P2-00
Inertia [J_load / J_motor])
3 P2-04 P2-31 Value B (Level of Responsiveness)
P2-06 P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-00
P2-04
4 P2-06 P2-31 Value B (Level of Responsiveness)
P2-25
P2-26
P2-00
P2-04
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
5 P2-06
P2-31 Value B (Level of Responsiveness)
P2-25
P2-26
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User-defined Parameter
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Gain Value
Fixed
Fixed
Continuous
Adjusting
Fixed
Continuous
Adjusting
Fixed
Revision April 2009
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