Chapter 6 Control Modes of Operation ASDA-B2
6-22 Revision September 2013
Explanation of semi-auto tuning mode:
1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-25
and P2-26 will change to the value that measured in #1 auto-tuning mode.
2. After the system inertia becomes stable (The displau of P2-33 will show 1), it will
stop estimating the system inertia, save the measured load inertia value
automatically, and memorized in P1-37. However, when P2-32 is set to mode#1
or #2, the servo drive will continuously perform the adjustment for a period of time.
3. When the value of the system inertia becomes over high, the display of P2-33 will
show 0 and the servo drive will start to adjust the load inertia value continuously.
Manual Mode
When Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional
speed loop gain (P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and
ratio of load inertia to servo motor Inertia (1-37). Please refer to the following
description:
Proportional gain: Adjust this gain can increase the position loop
responsiveness.
Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed
loop and eliminate the steady error. Also, reduce the value of phase margin.
Over high integral gain will result in the unstable servo system.
Feed forward gain: Adjust this gain can decrease the phase delay error
Relevant parameters:
P2-04 KVP Proportional Speed Loop Gain
Address: 0208H
0209H
Operation
Interface:
Keypad/Software Communication
Related Section:
Section 6.3.6
Default: 500
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Display
Format:
Decimal
Settings:
This parameter is used to set the speed loop gain. When the value of proportional
speed loop gain is increased, it can expedite speed loop response. However, if the
setting value is over high, it may generate vibration or noise.
VARITEL INGENIERIA ELECTRONICA S.A.
info@varitel.com - www.varitel.com - Tel. (54) 11-4243-1171 / Fax: (54) 11-4292-7545
Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.
To Next Page
Loading...
Need help?
General
