Delta Electronics AC Servo Drive ASDA-B - Manual (Page 133)

Chapter 6 Control Modes of Operation|ASDA-B Series
6-18 Revision February 2008, Doc. Name: 2006PDD23000009
• 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.