Auto Tuning - Delta ASDA-A3 Series User Manual

ASDA-A3

5.4 Auto tuning

The auto tuning function enables the system to perform real-time machine inertia estimation and
uploads the optimized parameters to the servo drive. You can start auto tuning with ASDA-Soft
(software) or through the drive panel. The following table lists the parameters that change
according to the results of auto tuning.
Parameter
No.
P1.037 Load inertia ratio or total weight
P2.000
P2.002
P2.004
P2.006
P2.026
Parameter
No.
P1.025
P1.026
P1.027
P1.028
P1.029
P1.061
P1.062 Percentage of friction compensation
P1.063 Constant of friction compensation
P1.089
P1.090
P1.091
P1.092
P1.093
P1.094
P2.023
P2.024 Notch filter 1 - attenuation level
Gain parameters
Function
Position control gain
Position feed forward gain
Speed control gain
Speed integral compensation
Anti-interference gain
Filter and resonance suppression parameters
Function
Low-frequency vibration
suppression frequency 1
Low-frequency vibration
suppression gain 1
Low-frequency vibration
suppression frequency 2
Low-frequency vibration
suppression gain 2
Auto low-frequency vibration
suppression mode
Viscous friction compensation
Vibration elimination 1 -
anti-resonance frequency
Vibration elimination 1 -
resonance frequency
Vibration elimination 1 -
resonance difference
Vibration elimination 2 -
anti-resonance frequency
Vibration elimination 2 -
resonance frequency
Vibration elimination 2 -
resonance difference
Notch filter 1 - frequency
Parameter
No.
P2.031 Bandwidth response level
P2.032 Gain adjustment mode
P2.089 Command response gain
Two degree of freedom mode -
P2.090
anti-interference gain
Special bit register 3
P2.094 (enable the two degree of freedom
control function)
-
Parameter
No.
Resonance suppression low-pass
P2.025
P2.043 Notch filter 2 - frequency
P2.044 Notch filter 2 - attenuation level
P2.045 Notch filter 3 - frequency
P2.046 Notch filter 3 - attenuation level
Speed detection filter and jitter
P2.049
suppression
P2.095 Notch filter 1 - Q factor
P2.096 Notch filter 2 - Q factor
P2.097 Notch filter 3 - Q factor
P2.098 Notch filter 4 - frequency
P2.099 Notch filter 4 - attenuation level
P2.100 Notch filter 4 - Q factor
P2.101 Notch filter 5 - frequency
P2.102 Notch filter 5 - attenuation level
P2.103 Notch filter 5 - Q factor
-
Tuning
Function
-
Function
filter
-
5
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