Delta Electronics none manual Kvp

Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series

„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:

Speed Loop Responsiveness (Hz)=	KVP
	(1+ (J_load / J_motor)) X2

„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

„NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression

When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At this time, the users can increase the setting value of KVP (P2-04) to keep the responsiveness of speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the vibration of machinery system. Please use this parameter to suppress or eliminate the noise of resonance. If the setting value of NLP is higher, the capability of improving the noise of resonance is better. However, if the setting value is over high, it may easily lead to the instability of speed loop and overshoot of machinery system.

The recommended setting value is as follows:

NLP (Parameter P2-25)	1000
	4 x Speed Loop Responsiveness (Hz)

5-24 Revision March 2008, Doc. Name: 2007PDD23000011