Chapter 5 Trial Run and Tuning ProcedureASDA-B Series

5.5.7 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:

„KPP, Parameter P2-00 Proportional Position Loop Gain

This parameter is used to determine the responsiveness of position loop (position loop gain). It could be used to increase stiffness, expedite position loop response and reduce position error. When the setting value of KPP is higher, the response to the position command is quicker, the position error is less and the settling time is also shorter. However, if the setting value is over high, the machinery system may generate vibration or noise, or even overshoot during positioning. The position loop responsiveness is calculated as follows:

Position Loop Responsiveness (Hz)= KPP2

„KVP, Parameter P2-04 Proportional Speed Loop Gain

This parameter is used to determine the responsiveness of speed loop (speed loop gain). It could be used to expedite speed loop response. When the setting value of KVP is higher, the response to the speed command is quicker. However, if the setting value is over high, it may result in the resonance of machinery system. The responsiveness of speed loop must be higher than the 4~6 times of the responsiveness of position loop. If responsiveness of position loop is higher than the responsiveness of speed loop, the machinery system may generate vibration or noise, or even overshoot during positioning. The speed loop responsiveness is calculated as follows:

 

KVP

(1 + P1-37 / 10)

 

JM: Motor inertia

Spee d Loop Responsiveness f v(Hz) =(

2

) x [

(1+ (JL / JM))

] x 2

JL: Load inertia

P1-37: 0. 1 times

„KVI, Parameter P2-06 Speed Integral Compensation

If the setting value of KVI is higher, the capability of decreasing the speed control deviation is better. However, if the setting value is over high, it may easily result in the vibration of machinery system. The recommended setting value is as follows:

KVI (Parameter P2-06) 1.5 x Speed Loop Responsiveness

5-20

Revision January 2009

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Delta Electronics ASDA-B Series manual Gain Adjustment in Manual Mode, Kvp
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ASDA-B Series specifications

Delta Electronics, a global leader in power and thermal management solutions, has made significant strides in the automation and control sectors with its ASDA-B Series of servo drives. This series is engineered for precision motion control applications and is ideal for various industries, including manufacturing, robotics, and packaging.

One of the standout features of the ASDA-B Series is its advanced control algorithms. The series utilizes a high-performance digital signal processor (DSP) that enables precise control of servo motors, resulting in exceptional responsiveness and stability even at high speeds. This technology is particularly beneficial in applications requiring quick acceleration and deceleration, ensuring optimal performance in dynamic environments.

The ASDA-B Series offers a wide range of power ratings, making it versatile enough to cater to different motor sizes and application requirements. It supports various feedback devices, including encoders and resolver systems, enhancing its adaptability and accuracy in diverse operational contexts. The series also features a user-friendly interface, allowing for easy programming and setup, thus minimizing downtime and maximizing productivity.

One of the notable characteristics of the ASDA-B Series is its compact design. The small form factor not only saves valuable space in control cabinets but also simplifies installation and maintenance processes. Additionally, the series is built to withstand tough industrial environments, featuring robust construction that enhances durability and reliability.

Another key technology integrated into the ASDA-B Series is its advanced communication capabilities. The drives support multiple industrial communication protocols, including Ethernet/IP, CANopen, and Modbus, allowing for seamless integration into existing network systems. This connectivity is crucial for applications that require real-time data exchange and remote monitoring.

To ensure energy efficiency, Delta Electronics has incorporated innovative energy-saving technologies in the ASDA-B Series. These technologies optimize power consumption during operation, resulting in lower energy costs and reduced carbon footprint. Moreover, the thermal management features ensure that the drives operate within safe temperature ranges, enhancing their longevity and performance reliability.

In conclusion, Delta Electronics' ASDA-B Series servo drives represent a powerful solution for modern automation needs. With their advanced control algorithms, compact design, versatile communication options, and energy-saving technologies, these drives cater to a wide array of industrial applications, reinforcing Delta's commitment to innovation and efficiency in the automation landscape.
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