Chapter 6 Control Mode of Operation ASDA-M
6-34 Revision December, 2014
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be
saved to P1-37 automatically. When switching mode to
semi-auto mode (from manual or auto mode), the system starts
to estimate again.
2. When the system inertia is over the range, the value of P2-33
will be 0 and the system starts to estimate and adjust again.
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral
Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each
parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of
speed loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of
speed loop, reduce the steady-state error and sacrifice the phase margin.
The over high integral gain will cause the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
Related parameters:
P2-04 KVP Speed Loop Gain
Address: 0208H
0209H
Parameter
Attribute
：
Parameter for individual axis
Related Section:
Section 6.3.6
Operational
Interface
：
Panel / Software Communication
Default：
500
Control
Mode
：
ALL
Unit：
rad/s
Range：
0 ~ 8191
Data Size：
16bit
Format：
DEC
Settings：
Increasing the value of speed loop gain can enhance the speed
response. However, if the value is set too big, it would easily
cause resonance and noise.
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