User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
6-21
6-3-6 Speed Loop Gain Adjustment
The function and structure of speed control block diagram is shown as the figure below:
P2-07
P2-04
P2-06
Speed Control Block Diagram
differentiator
Encoder
Proportional
Gain
Feed forward
Gain
Speed estimator
Integrator
Integral Gain
There are three turning modes of gain adjustment: Manual, Auto and Easy modes.
 Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
function will be disabled.
 Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The parameter set by user is default value.
 Easy Mode: Robust for wide range of external load inertia change, with ten levels of system stiffness.
Using easy mode can immediately suppress the interference of external load and
mechanical resonance and also stand for the load inertia change.
The mode of gain adjustment can be selected by parameter P2-32:
P2 - 32ϧ
AUT2 Gain Adjustment Method
Communication Addr.: 0220H
Default: 0 Applicable Control Mode: P/S/T
Range: 0~5
Setting:
0: Manual mode
1: Easy mode
2: PI auto-tuning mode (Continuous adjustment)
3: PI auto-tuning mode (Fix the ratio of Load Inertia to servo motor inertia and response level can
be adjusted)
4: PDFF auto-tuning mode (Continuous adjust)
5: PDFF auto-tuning mode (Fix the ratio of Load Inertia to servo motor inertia and response level
can be adjusted)
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward