Delta ASDA-A2 Series User Manual

Chapter 5 Trial operation and Tuning ASDA-A2
5-14 Revision February, 2017
5.6.3 Flowchart of Auto Tuning
Set P2-32 to 1 (auto mode, continuous tuning)
Continue to estimate the system inertia. Automatically save the value in P1-37 every 30 minutes
and refer the stiffness and bandwidth setting of P2-31.
P2-31 Stiffness setting in auto tuning mode (The default value is 80)
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
851 ~ 1000 Hz: extremely high-stiffness, extremely high-response
Stiffness setting in auto tuning mode: the bigger the value is, the stronger the stiffness will be.
Adjust the value of P2-31: Increase the value of P2-31 to increase stiffness or decrease to reduce
the noise. Continue to tune until the performance is satisfied. Then, tuning is completed.

Delta ASDA-A2 Series Specifications

General

Enclosure Rating	IP20
Control Mode	Position, Speed, Torque
Communication Interface	RS-485, CANopen
Protection	Overcurrent, Overvoltage, Undervoltage, Overload, Overtemperature, Encoder error
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Humidity	20% to 90% RH (non-condensing)
Altitude	1000m max
Cooling Method	Natural cooling or forced air cooling
Encoder Feedback	20-bit incremental encoder (standard), 17-bit absolute encoder (optional)