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 March 2008, Doc. Name: 2007PDD23000011

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Delta Electronics none manual Relationship between Tuning Modes and Parameters, Gain Adjustment in Manual Mode