User manual

ASDA-A User Manual Table of Contents

vii

Chapter 5 Trial Run and Tuning Procedure ................................ 5-1

5-1 Inspection without Load ....................................................................... 5-1

5-2 Applying Power to the Drive.................................................................. 5-3

5-3 JOG Trial Run without Load .................................................................. 5-7

5-4 Speed Trial Run without Load ............................................................... 5-8

5-5 Position Trial Run without Load ............................................................ 5-10

5-6 Tuning Procedure ................................................................................ 5-13

5-6-1 Tuning Flowchart ........................................................................... 5-14

5-6-2 Load Inertia Estimation Flowchart ................................................... 5-15

5-6-3 Easy Mode Tuning Flowchart........................................................... 5-16

5-6-4 AutoMode (PI) Tuning Flowchart ...................................................... 5-18

5-6-5 AutoMode (PDFF) Tuning Flowchart ................................................. 5-20

5-6-6 Manual Mode Tuning Flowchart ....................................................... 5-22

5-6-7 Limit of Load Inertia Estimation....................................................... 5-23

5-6-8 Relationship between Tuning Modes and Parameters ........................ 5-24

5-6-9 Gain Adjustment in Manual Mode..................................................... 5-25

Chapter 6: Control Modes of Operation ........................................ 6-1

6-1 Control Modes of Operation.................................................................. 6-1

6-2 Position Control Mode.......................................................................... 6-3

6-2-1 Command Source of Position (Pt) Control Mode................................ 6-4

6-2-2 Command Source of Position (Pr) Control Mode................................ 6-5

6-2-3 Structure of Position Control Mode .................................................. 6-6

6-2-4 P-curve Filter for Position Control ................................................... 6-7

6-2-5 Electronic Gear Ratio ..................................................................... 6-9

6-2-6 Low-pass Filter.............................................................................. 6-10

6-2-7 Timing Chart of Position (Pr) Control Mode ...................................... 6-10

6-2-8 Position Loop Gain Adjustment........................................................ 6-11

6-3 Speed Control Mode ............................................................................ 6-13

6-3-1 Command Source of Speed Control Mode ......................................... 6-14

6-3-2 Structure of Speed Control Mode ..................................................... 6-15

6-3-3 Smoothing Strategy of Speed Control Mode ...................................... 6-16

6-3-4 Analog Input Proportional Gain (Scalar) ........................................... 6-19