Tuning Mode Selection; Manual Mode - Delta Electronics AC Servo Drive ASDA-AB User Manual

Chapter 6 Control Modes of Operation|ASDA-AB Series
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
function will be disabled.
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels
of system bandwidth. The parameter set by user is default value.
The mode of gain adjustment can be selected by parameter P2-32:
P2 - 32▲
AUT2

Tuning Mode Selection

Default: 0
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 5
Settings:

0: Manual mode

2: AutoMode (PI) [Continuous adjustment]
3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be
adjusted]
4: AutoMode (PDFF) [Continuous adjustment]
5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can
be adjusted]
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3, the system will save the measured load inertia value
automatically and memorized in P1-37. Then, set the corresponding parameters according
to this measured load inertia value.
2. When switching mode #2 or #4 to #0, it indicates all automatically measured load inertia
value will be aborted, and all setting of parameters will be returned to original setting value in
#0 manual mode.
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value in P1-37.
4. 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. When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26
will change to the value that measured in #5 auto-tuning mode.
Manual Mode
When·Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional speed loop gain
(P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of load inertia to servo motor
Inertia (1-37). Please refer to the following description:
6-20
Communication Addr.: 0220H
Related Section:
Section 5.6, Section 6.3.6
Revision January 2009