Tuning - Delta ASDA-B3 Series User Manual

Tuning

This chapter contains information about One Touch tuning, Auto tuning, and gain
adjustment modes. Advanced users can also tune the servo system in Manual mode.
In addition, this chapter also describes how to deal with the mechanical resonance and
noise and the adjustments for application functions.
5.1 Tuning procedure ··············································································· 5-4
5.2 Inertia estimation ················································································ 5-5
5.2.1 Precautions for inertia estimation······················································ 5-5
5.2.2 Inertia estimation with ASDA-Soft ····················································· 5-6
5.3 One Touch Tuning··············································································· 5-9
5.3.1 Precautions for one touch tuning ···················································· 5-10
5.3.2 One touch tuning with ASDA-Soft ··················································· 5-10
5.4 Auto tuning ······················································································ 5-13
5.4.1 Precautions for auto tuning ··························································· 5-14
5.4.2 Flowchart of auto tuning ······························································· 5-15
5.4.3 Auto tuning through the drive panel ················································· 5-16
5.4.4 Auto tuning with ASDA-Soft ··························································· 5-17
5.4.5 Parameters related to auto tuning ··················································· 5-24
5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment ··· 5-24
5.4.5.2 Automatic gain adjustment level 2 (P2.106) - response adjustment ·· 5-25
5.4.6 Alarms related to auto tuning ························································· 5-26
5.5 Gain adjustment modes ····································································· 5-27
5.5.1 Differences between gain adjustment modes ···································· 5-27
5.5.2 Flowchart of gain adjustment mode ················································· 5-29
5.5.3 Gain adjustment mode 1 ······························································ 5-30
5.5.4 Gain adjustment mode 2 ······························································ 5-30
5.5.5 Gain adjustment mode 3 ······························································ 5-31
5.5.6 Gain adjustment mode 4 ······························································ 5-32
5.5.7 Gain adjustment mode 5 ······························································ 5-33
5.5.8 Gain adjustment mode 6 ······························································ 5-33
5.5.9 Parameters related to gain adjustment modes ··································· 5-34
5.5.9.1 Bandwidth response level (P2.031) - stiffness adjustment ·············· 5-34
5.5.9.2 Command response gain (P2.089) - response adjustment ············· 5-35
5-1