Delta Electronics ASDA-B Series Gdr, Kvp, Proportional Speed Loop Gain Communication Addr H, Kvi

Chapter 6 Control Modes of OperationASDA-B Series

Relevant parameters:

P1 - 37

GDR	Ratio of Load Inertia to Servo Motor Inertia	Communication Addr.: 0125H
Default: 10		Related Section:
Applicable Control Mode: P/S/T		P2-31, P2-32, Section 6.3.6
Unit: 0.1times
Range: 0 ~ 2000
Settings:

Ratio of load inertia to servo motor inertia: (J_load /J_motor)

P2 - 04

KVP	Proportional Speed Loop Gain	Communication Addr.: 0204H
Default: 300		Related Section:
Applicable Control Mode: P/S		Section 6.3.6, P2-27
Unit: rad/s
Range: 0 ~ 4095
Settings:

This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response. However, if the setting value is over high, it may generate vibration or noise. In AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6).

Speed Loop Responsiveness	=(	KVP	)X[	(1+P1-37/10)	]Hz JM: Motor inertia
		2		(1+JL/JM)
					JL: Load inertia
					P1-37: 0.1 times

When the setting value of P1-37(no matter it is a measured value or set by the users) is equal to the actual ratio of load inertia to servo motor inertia, then the actual responsiveness will be equal to: = KVP2 Hz

For example, assume that the desired speed loop responsiveness is 60 Hz =>

KVP (P2-04, Proportional Speed Loop Gain) = 2×π×60 = 376 rad/s

P2 - 06

KVI	Speed Integral Compensation	Communication Addr.: 0206H
Default: 50		Related Section:
Applicable Control Mode: P/S		Section 6.3.6
Unit: rad/s

Range: 0 ~ 1023

Settings:

This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation. However, if the setting value is over high, it may generate vibration or noise. In

Revision January, 2009 6-19