ASDA-A User Manual
Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
4th Edition 2005/11/30, HE03
6-25
Easy Mode
When P2-32 is set to 1, the easy mode function is activated. In order to enhance the performance of servo
system, ASDA-A series servo drive provide
“Robust Control Technology”
when user select the easy mode
of tuning technology. The following introduces the basic structure.
The servo motor with inertia change will operate close to reference ideal mode due to the feedback inside of
current loop and the torque load will give the compensation immediately inside of the current loop. When the
permissible inertia change is greater, it will be much easier to influence the performance of servo system. For
the strong functionality and robust control of Delta servo system, the easy mode provides servo system can
be robust for the wide range of external load inertia change, with ten levels of system stiffness.
Users only need to set the “A” value of parameter P2-31 to select ten levels of system stiffness. The value is
greater, the stiffness is increased and the frequency response is faster.
P2 - 31
AUT1
Auto and Easy Mode Selection
Communication Addr.: 021FH
Default: 44
Applicable Control Mode: P/S/T
Range: 0~FF
not used
A
B
A: Stiffness setting of easy mode
B: Response setting of auto-tuning mode
Note: This parameter is activated by P2-32.
Stiffness Setting in Easy Mode (P2-31 value “A”) and the setting of P2-00, P2-25
Level
(P2-31
Value A)
Load Range
(J_load /J_motor)
Max. Load
Corresponding
Responsiveness
KPP
(P2-00)
NLP
(P2-25)
Remark
1 50~100 5Hz 5
50
2 30~50 8Hz 8
31
3 20~30 11Hz
11
33
Low
Responsive-
n
ess Leve
l
4 16~20 15Hz
15
16
The setting of P2-00
and P2-25 must be
inputted manually
5 12~16 20Hz
20
12
6 8~12 27Hz
27
9
7 5~8 40Hz
40
6
8 2~5 60Hz
60
4
Medium
Responsive
ness
Level
9 0~2 115Hz
115
2
The setting of P2-00
and P2-25 must be
inputted manually
