Delta ASD-B2-0121-B, User Manual

Page: 108 / 313

Chapter 5 Trial Run and Tuning Procedure
Revision June 2010
5-21
5.5.8 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:
„
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:
„
KVP, Parameter P2-04 Proportional Speed Loop Gain
This parameter is used to determine the frequency response 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
frequency response of speed loop must be higher than the 4~6 times of the
frequency response of position loop. If frequency response of position loop is higher
than the frequency response of speed loop, the machinery system may generate
vibration or noise, or even overshoot during positioning. The speed loop frequency
response is calculated as follows:
When the value of P1-37 (no matter it is the measured load inertia value or the set
load inertia value) is equal to the actual load inertia value, the actual speed loop
frequency response will be:
= H z
KVP
2 .
JM: Motor Inertia
JL: Load Inertia
P1-37: 0.1 times