Chapter 6 Control Mode of Operation ASDA-A2R Series
Revision December, 2014
6-25
Generally, instrument is needed when applying frequency domain for measurement.
Users are required to adopt the measurement techniques; while time domain only needs
a scope and goes with the analog input / output terminal provided by the servo drive.
Thus, time domain is frequently used to adjust PI controller. The abilities of PI controller
to deal with the resistance of torque (force) load and the following command are the
same. That is to say, the following command and resistance of torque load have the
same performance in frequency domain and time domain. Users can reduce the
bandwidth by setting the low-pass filter in command end.
Auto Mode
Auto mode adopts adaptive principle. The servo drive automatically adjusts the
parameters according to the external load. Since the adaptive principle takes longer time,
it will be unsuitable if the load changes too fast. It would be better to wait until the load
inertia is steady or changes slowly. Depending on the speed of signal input, the adaptive
time will be different from one another.
W
J
馬達轉速
慣量估測
(重量)
If the KVF value closes to 1, the
feed forward compensation will be
more complete and the dynamic
following error will become smaller.
However, if the KVF value is set
too big, it would cause vibration.
Motor speed
(weight)
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