Delta ASDA-A3 Series, Руководство пользователя

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Tuning ASDA-A3
5-20
5
5.4 Tuning in manual mode
The selection of the position or speed response bandwidth should be determined by the machine
stiffness and the application. Generally, for applications or machines that require high-speed
positioning and high precision, higher response bandwidth is required. However, increasing the
response bandwidth might cause mechanical resonance. Thus, machinery with higher stiffness
is used to solve this problem. When the response bandwidth is unknown, you can gradually
increase the gain parameter values to increase the response bandwidth. Then, decrease the
gain parameter values until you hear the sound of the resonance. The following are the
descriptions of the gain adjustment parameters.
 Position control gain (KPP, parameter P2.000)
This parameter determines the response of the position loop. The bigger the KPP value,
the higher the response bandwidth of the position loop. This lowers the following error
and position error, and shortens the settling time. However, if you set the value too high,
it can cause the machinery to vibrate or cause overshoot when positioning.
The calculation of position loop response bandwidth is as follows:
Position loop response bandwidth (Hz) =
KPP
2π
 Speed control gain (KVP, parameter P2.004)
This parameter determines the response of the speed control loop. The bigger the KVP
value, the higher the response bandwidth of the speed loop and the lower the following
error. However, if you set the value too high, it can cause mechanical resonance.
The response bandwidth of the speed loop must be 4 to 6 times higher than that of the
position loop; otherwise, it can cause the machinery to vibrate or cause overshoot when
positioning. The calculation of speed loop response bandwidth is as follows:
Speed loop response bandwidth (Hz) = (
KVP
2π
) × [
(1 + P1.037/10)
(1 + JL/JM)
]
JM: motor inertia; JL: load inertia; P1.037: 0.1 (times)
When P1.037 (auto estimation or manually set value) is equal to the real inertia ratio
(JL / JM), the real speed loop response bandwidth is:
Speed loop response bandwidth (Hz) = (
KVP
2π
)
 Speed integral compensation (KVI, parameter P2.006)
The higher the KVI value, the better the elimination of the deviation. However, if you set
the value too high, it can cause the machinery to vibrate. It is suggested that you set the
value as follows:
KVI ≤ 1.5 × Speed loop response bandwidth (Hz)