Delta ASD-M-0721 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation ASDA-M
6-34
Revision December, 2014
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be
saved to P1-37 automatically. When switching mode to
semi-auto mode (from manual or auto mode), the system starts
to estimate again.
2. When the system inertia is over the range, the value of P2-33
will be 0 and the system starts to estimate and adjust again.
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral
Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each
parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of
speed loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of
speed loop, reduce the steady-state error and sacrifice the phase margin.
The over high integral gain will cause the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
Related parameters:
P2-04 KVP Speed Loop Gain
Address: 0208H
0209H
Parameter
Attribute
：
Parameter for individual axis
Related Section:
Section 6.3.6
Operational
Interface
：
Panel / Software Communication
Default
：
500
Control
Mode
：
ALL
Unit
：
rad/s
Range
：
0 ~ 8191
Data Size
：
16bit
Format
：
DEC
Settings
：
Increasing the value of speed loop gain can enhance the speed
response. However, if the value is set too big, it would easily
cause resonance and noise.