Delta ASD-B2-0121-F, User Manual

Page: 88 / 291

ASDA-B2-F Trial Operation and Tuning
September, 2015
5-19
5
5.5.8 Tuning in Manual Mode
The selection of position / speed response frequency should be determined by the machinary
stiffness and application. Generally, the high-frequency machinary or the one requries precise
processing needs the higher response frequency. However, it might cause the resonance. Thus,
use machinery with higher stiffness is needed so as to avoid resonance. When the permitted
resonace frequnecy is unknown, users could gradually increase the gain setting value to
increase the resonse frequency. Then, decrease the gain setting value until the resonance exists.
The following are the descriptions about gain adjustment.

Position Loop gain (KPP, parameter P2-00)
This parameter determines the response of position loop. Higher KPP value will make
higher response frequency of position loop. And it will have better following, smaller position
error, and shorter settling time. However, if the value is set too high, the machinery will
vibrate or overshoot when positioning might occur. The calculation of position loop
frequency response is as follows:
Position Loop Frequency Response Hz

Speed Loop gain (KVP, parameter P2-04)
This parameter determines the response of speed loop. Higher KVP value will make higher
response frequency of speed loop and better following. However, if the value is set too high,
it would cause machinery resonance. The response frequency of speed loop must be 4 ~ 6
times higher than the response frequency of position loop. Otherwise, the machinery might
vibrate or overshoot when positioning might occur. The calculation of speed loop frequency
response is as follows.
Speed Loop Frequency Response fv
/
/
Hz
; JM: Motor Inertia;
JL: Load Inertia; P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real speed loop
frequency response will be:
fv Hz