User manual

ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure

5-25

5-6-9 Gain Adjustment in Manual Mode

The position and speed responsiveness selection is depending on and determined by the the control

stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the high

frequency positioning control of mechanical facilities and the applications of high precision process system.

However, the higher responsiveness may easily result in the resonance of machinery system. Therefore, for

the applications of high responsiveness, the machinery system with control stiffness is needed to avoid the

resonance. Especially when adjusting the responsiveness of unfamiliar machinery system, the user can

gradually increase the gain setting value to improve responsiveness untill the resonance occurs, and then

decrease the gain setting value. The relevant parameters and gain adjusting methods are described as

follows:

 KPP, Parameter P2-00 Proportional Position Loop Gain

This parameter is used to determine the responsiveness of position loop (position loop gain). It could

be used to increase stiffness, expedite position loop response and reduce position error. When the

setting value of KPP is higher, the response to the position command is quicker, the position error is

less and the settling time is also shorter. However, if the setting value is over high, the machinery

system may generate vibration or noise, or even overshoot during positioning. The position loop

responsiveness is calculated as follows:

Position Loop Responsiveness (Hz)=

 KVP, Parameter P2-04 Proportional Speed Loop Gain

This parameter is used to determine the responsiveness of speed loop (speed loop gain). It could be

used to expedite speed loop response. When the setting value of KVP is higher, the response to the

speed command is quicker. However, if the setting value is over high, it may result in the resonance

of machinery system. The responsiveness of speed loop must be higher than the 4~6 times of the

responsiveness of position loop. If responsiveness of position loop is higher than the responsiveness

of speed loop, the machinery system may generate vibration or noise, or even overshoot during

positioning. The speed loop responsiveness is calculated as follows:

Speed Loop Responsiveness (Hz)=

(1+ (J_load / J_motor))

 KVI, Parameter P2-06 Speed Integral Compensation

If the setting value of KVI is higher, the capability of decreasing the speed control deviation is better.

However, if the setting value is over high, it may easily result in the vibration of machinery system.

The recommended setting value is as follows:

KVI (Parameter P2-06)

1.5 x Speed Loop Responsiveness