Chapter 6 Control Modes of OperationASDA-B Series

•Tuning Mode Settings:

0:Manual mode

1:AutoMode (Continuous adjustment)

The ratio of Load Inertia to servo motor inertia can be continuously adjusted.

The level of stiffness and responsiveness are adjusted by parameter P2-31.

2: AutoMode (The ratio of Load Inertia to servo motor inertia is fixed)

The ratio of Load Inertia to servo motor inertia is set by parameter P1-37.

The level of stiffness and responsiveness are adjusted by parameter P2-31.

•Control Loop Structure Settings:

0:PDFF Control. PDFF : Pseudo-Derivative Feedback and Feedforward

1:PI Control. PI : Proportional - Integral control

Explanation of Auto-tuning:

1.When switching mode #1 to #2 or #0, the system will save the measured load inertia value automatically and memorized in P1-37 and related gain parameters.

2.In AutoMode #1, the system will save the measured load inertia value every 30 minutes automatically and memorized in P1-37.

3.In AutoMode #2, if the setting value of P2-31 changes, the related gain parameters will also change. However, the setting value of P1-37 will retain its value.

4.When switching mode #2 to #0, it indicates the setting of P1-37 and all settings of related gain parameters will be returned to original setting value in #0 manual mode.

5.No matter in Manual mode #0 or in AutoMode #2, the users should enter the appropriate load inertia value in P1-37.

6.If the users use the servo dynamic auto-tuning function of ASDA-B software (Tools Æ Servo Tuning Æ Dynamic Auto tuning), it will save the measured load inertia value and memorized in P1-37 and related gain parameters.

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:

„Proportional gain: Adjust this gain can increase the position loop responsiveness.

„Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will result in the unstable servo system.

„Feed forward gain: Adjust this gain can decrease the phase delay error

NOTE

1)Before adjusting the gain manually, ensure to set P1-37 in advance. If the setting value of P1-37 is quite different than the actual load inertia ratio, the responsiveness that represented by P2-04 has no meaning.

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Revision January, 2009

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Delta Electronics ASDA-B Series manual Manual Mode
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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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