Delta ASD-B2-0121-F, User Manual

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Trial Operation and Tuning ASDA-B2-F
5-14
September, 2015
5
5.5.4 Flowchart of Semi-Auto Tuning
Please refer to the figure below to start the semi-auto tuning procedure.
Servo off and set P2-32 to 2. Then, servo on
again.
Set P0-02 to 15. The panel
displays the inertia ratio*.
The servo drive issues the
command and make motor
alternately accelerate /
decelerate.
Any
resonance?
Satisfactory
performance?
Increase the value of P2-31
to increase response and
stiffness.
Complete
1. Lower the value of P2-31 to reduce the noise.
2. If not desire to lower the value of P2-31, value
of P2-23 and P2-24 can be used to suppress
the resonance as well.
(Please refer to Chapter 5.6.6)
Yes
No
Yes
No
No
The inertia ratio shown on the
panel is stable. Check if bit 0 of
P2-33 is 1*
Yes
Figure 5-4 Procedure of tuning in semi-auto mode
Set P2-32 to 2. (semi-auto mode, non-continuous tuning)
After tuning for a while and wait until the system inertia is stable, it stops estimating. The
estimated inertia ratio will be saved to P1-37. When switching mode from manual or auto to
semi auto, the system starts tuning again. During the process of estimation, the system will
refer to the stiffness and bandwidth setting of P2-31.
Adjust the value of P2-31, Response setting in auto mode (The default value is 40)
Increase the value of P2-31 to increase the response or decrease to reduce the noise.
Continue to tune the system until the performance is satisfied. Response setting in
semi-auto tuning mode: the higher the value is, the better the response will be. Then, tuning
is completed.
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
Note:
1. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode is completed. The result can be
accessed by P1-37.
2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate again.