Delta ASDA-B2 Series User Manual

Chapter 6 Control Modes of Operation ASDA-B2
6-34 Revision May, 2018
Here illustrates the effect via low-pass filter (parameter P2-25). The following diagram is
the system open-loop gain with resonance.
Gain
Frequency
When the value of P2-25 is increased from 0, BW becomes smaller (See as the following
diagram). Although it solves the problem of resonance frequency, the response bandwidth
and phase margin is reduced.
0dB
BW
Gain
Frequency
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can
directly eliminate the resonance. The frequency setting range of notch filter is merely from
50 to 1000 Hz. The suppression strength is from 0 to 32 dB. If the resonance frequency is
not within the range, it is suggested to use low-pass filter (parameter P2-25).
Here firstly illustrates the influence brought by notch filter (P2-23 and P2-24) and
low-pass filter (P2-25). The following diagrams are the system of open-loop gain with
resonance.
Resonance suppression with notch filter
0db
Notch Filter
Attenuation
Rate P2-24
Resonance
Frequency
.
Resonance
Point
Gain
Frequency
.
Gain
Frequency
Gain
Frequency
Low-pass
Frequency
Low-pass
Frequency
Resonance
Frequency
P2-23
Resonance
conditions
is suppressed
Resonance
Frequency

Delta ASDA-B2 Series Specifications

General

Control Mode	Position, Speed, Torque
Storage Temperature	-20°C to 65°C
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Output Power	0.1 kW to 3.0 kW
Communication Interface	RS-485, CANopen
Encoder Feedback	Incremental
Protection	Overvoltage, Overcurrent, Overload, Overheat
Operating Temperature	0°C to 55°C
Humidity	20% to 90% RH (non-condensing)
Vibration Resistance	5.9 m/s² (0.6G) at 10-55Hz