Delta Electronics ASDA-AB manual Relationship between Tuning Modes and Parameters

Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series

5.6.7 Relationship between Tuning Modes and Parameters

Tuning Mode	P2-32	AutoSet	User-defined Parameter	Gain Value
		Parameter
			P2-00 (Proportional Position Loop Gain)
Manual Mode	0(Default	None	P2-04 (Proportional Speed Loop Gain)	Fixed
			P2-06 (Speed Integral Compensation)
	setting)
			P2-25 (Low-pass Filter Time Constant of
			Resonance Suppression)
AutoMode (PI)		P2-00	P2-31 Value B (Level of Responsiveness)	Continuous
	2	P2-04	P2-25 (Low-pass Filter Time Constant of
[Continuous]				Adjusting
		P2-06	Resonance Suppression)
AutoMode (PI)			P1-37 (Ratio of Load Inertia to Servo Motor
[Fixed Inertia] (The		P2-00	Inertia [J_load / J_motor])
inertia ratio is	3	P2-04	P2-31 Value B (Level of Responsiveness)	Fixed
determined by P1-		P2-06	P2-25 (Low-pass Filter Time Constant of
37)			Resonance Suppression)
		P2-00
AutoMode (PDFF)		P2-04		Continuous
	4	P2-06	P2-31 Value B (Level of Responsiveness)
[Continuous]				Adjusting
		P2-25
		P2-26
AutoMode (PDFF)		P2-00
		P2-04	P1-37 (Ratio of Load Inertia to Servo Motor
[Fixed Inertia] (The
inertia ratio is	5	P2-06	Inertia [J_load / J_motor])	Fixed
determined by P1-		P2-25	P2-31 Value B (Level of Responsiveness)
37)		P2-26

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.

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

5.6.8 Gain Adjustment in Manual Mode

The position and speed responsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process system. However, the higher responsiveness may easily result in the resonance of machinery system. Therefore, for the applications of high responsiveness, the machinery system with control stiffness is needed to avoid the resonance. Especially when adjusting the responsiveness of unfamiliar machinery system, the users can gradually increase the gain setting value to improve responsiveness untill the resonance occurs, and then decrease the gain setting value. The relevant parameters and gain adjusting methods are described as follows:

Revision January 2009 5-23