Delta ASD-A2R-1B43 Series - Page 328

Chapter 8 ParametersASDA-A2R Series
8-96 Revision December, 2014
Settings：
1~50Hz: Low stiffness, low response
51~250Hz: Medium stiffness, medium response
251~850Hz: High stiffness, high response
851~1000Hz: Extremely high stiffness, extremely high response
NOTE
1）According to the speed loop setting of P2-31, the servo drive
sets the position loop response automatically.
2）The function is enabled via parameter P2-32. Please refer to
Chapter 5.6 for corresponding bandwidth size of the setting
value.
P2-32▲
AUT2 Tuning Mode Selection
Address: 0240H
0241H
Operational
Interface：
Panel / Software Communication
Related Section:
5.6 and 6.3.6
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x2
Data Size：
16bit
Format：
HEX
Settings：
0: Manual Mode
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non- continuous adjustment)
Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such
as P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26, all can
be set by the user.
When switching mode from auto or semi-auto to manual,
parameters about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to
P1-37 every 30 minutes automatically and refer to the stiffness
and bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2,
the system will save the estimated inertia value to P1-37
automatically and set the corresponding parameters.