Delta Electronics none manual AUT2, Tuning Mode Selection Communication Addr H, Manual Mode

Chapter 6 Control Modes of OperationASDA-AB Series

„Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be disabled.

„Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of system bandwidth. The parameter set by user is default value.

The mode of gain adjustment can be selected by parameter P2-32:

P2 - 32▲

AUT2	Tuning Mode Selection	Communication Addr.: 0220H
Default: 0		Related Section:
Applicable Control Mode: P/S/T		Section 5.6, Section 6.3.6

Unit: N/A

Range: 0 ~ 5

Settings:

0: Manual mode

2:AutoMode (PI) [Continuous adjustment]

3:AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted]

4:AutoMode (PDFF) [Continuous adjustment]

5:AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted]

PI : Proportional - Integral control

PDFF : Pseudo-Derivative Feedback and Feedforward Explanation of Auto-tuning:

1.When switching mode #2 or #4 to #3, the system will save the measured load inertia value automatically and memorized in P1-37. Then, set the corresponding parameters according to this measured load inertia value.

2.When switching mode #2 or #4 to #0, it indicates all automatically measured load inertia value will be aborted, and all setting of parameters will be returned to original setting value in #0 manual mode.

3.When switching mode #0 to #3 or #5, enter the appropriate load inertia value in P1-37.

4.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.

5.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.

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:

6-20 Revision March 2008, Doc. Name: 2007PDD23000011