Delta ASD-B2-0121-F, Руководство пользователя

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ASDA-B2-F Trial Operation and Tuning
September, 2015
5-13
5
5.5.3 Flowchart of Auto Tuning
Please refer to the figure below to start the auto tuning procedure.
Any resonance?
Satisfactory
performance?
Tuning
completed.
No
Yes
No
Servo off. Set P2-32 to 1. Then, Servo on.
Set P0-02 to 15. The panel
will display the inertia ratio*.
Alternately accelerate and
decelerate.
Yes
Increase the value of P2-31 to increase the
response and stiffness.
1. Decrease the value of P2-31 to
reduce the noise.
2. If not decrease the value of P2-31,
then adjust the value of P2-23 and
P2-24 to suppress the resonance.
(Please refer to Chapter 5.6.6)
Note: The value of inertia ratio is used for rotary motors.
Figure 5-3 Tuning procedure in auto mode
Set P2-32 to 1 (auto mode, continuous tuning):
The servo will continue to estimate the system inertia. Then, it will automatically store the
value in P1-37 every 30 minutes and refer the stiffness and bandwidth setting of P2-31.
Adjust the value of P2-31, Stiffness setting in auto tuning mode (The default value is 40):
Increase the value of P2-31 to increase stiffness or decrease to reduce noise. Please note
that the higher the value is, the higher the stiffness will be. Continue to tune the system until
the performance is satisfied. Then, tuning is completed.
In auto and semi-auto mode, the bandwidth setting of speed circuit is as follows.
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response