ASDA-A2 Chapter 6 Control Mode of Operation
Revision February, 2017 6-33
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.
Relevant parameters:
P2-04 KVP Speed Loop Gain
Address: 0208H
0209H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.6
Default：
500
Control
Mode：
ALL
Unit：
rad/s
Range：
0 ~ 8191
Data Size：
16-bit
Format：
Decimal
Settings：
Increase 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.
P2-06 KVI Speed Integral Compensation
Address: 020CH
020DH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.6
Default：
100
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