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Tuning
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ASDA-A3
5
5.5.7 Gain adjustment mode 5
You can use this mode when the load inertia (weight) is unknown or the inertia (weight) changes
during machine operation.
The servo drive continually estimates the machine inertia (weight) and updates the value of
P1.037. To reach the expected response, simply set the bandwidth for speed loop response
(P2.126) to adjust the servo stiffness or reduce the noise.
P2.032 Adjustment mode
Mode name
Inertia (weight)
estimation
Gain adjustment
5
mode 5
(Same as setting
P2-32 = 1 for the
Bandwidth
adjustment -
Auto
Real-time
estimation
A2 series)
Parameter
Manual
Auto
P2.126
P1.037, P2.000,
P2.004, P2.006,
P2.023, P2.024,
P2.025, P2.043,
P2.044, P2.045,
P2.046, P2.049,
P2.089, P2.094,
P2.098, P2.099,
P2.101, P2.102
5.5.8 Gain adjustment mode 6
When the inertia (weight) cannot be successfully estimated in Gain adjustment mode 5, it is
probably because the machine inertia ratio is greater than 100 times (or the weight is greater
than 200 kg) or the speed and acceleration / deceleration of the actual motor operation are too
low. In this case, you can use Gain adjustment mode 6 to tune the servo system.
In Gain adjustment mode 6, you need to correctly set the machine inertia ratio or total weight in
P1.037 first and then adjust the bandwidth for speed loop response (P2.126). Setting P2.126
higher can increase the servo stiffness and setting P2.126 lower can reduce the noise.
P2.032 Adjustment mode
Mode name
Inertia (weight)
estimation
Gain adjustment
6
mode 6
(Same as setting
P2-32 = 2 for the
Bandwidth
adjustment -
Semi-auto
Fixed set value
of P1.037
A2 series)
Parameter
Manual
Auto
P1.037
P2.126
P2.000, P2.004,
P2.006, P2.023,
P2.024, P2.025,
P2.043, P2.044,
P2.045, P2.046,
P2.049, P2.089,
P2.094, P2.098,
P2.099, P2.101,
P2.102
5-38
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Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com