Delta ASDA-A2 User Manual

ASDA-A2 Chapter 5 Trial operation and Tuning
Revision February, 2017 5-21
 Low-pass filter of resonance suppression (NLP, parameter P2-25)
The high value of inertia ratio will reduce the frequency response of speed loop. Therefore, the
KVP value must be increased to maintain the response frequency. During the process of
increasing KVP value, it might cause machinary resonance. Please use this parameter to
elimiate the noise of resonance. The bigger the value is, the better the capability of improving
high-frequency noise will be. However, if the value is set too big, it would cause the unstability
of speed loop and overshoot. It is suggested to set the value as the following:
NLP
󰇛
P2  25
󰇜


󰇛󰇜
 Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and gradually
eliminate overshoot during acceleration / deceleration. Its default value is 0. It is suggested not
to adjust the value in manual mode, unless it is for fine-tuning.
 Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is set too
big, it might cause overshoot. If the setting of e-gear ratio is bigger than 10, it might cause the
noise as well.

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.