ASDA-B2
Chapter 5 Trial Run and Tuning Procedure
Revision September 2013
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:
JM: Motor Inertia
JL: Load Inertia
P1-37: 0.1 times
VARITEL INGENIERIA ELECTRONICA S.A.
[email protected] - www.varitel.com - Tel. (54) 11-4243-1171 / Fax: (54) 11-4292-7545
Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.
