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Tuning

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ASDA-A3

5

When P1.037 (auto estimation or manually set value) is equal to the actual load inertia

ratio or weight (JL / JM), the actual speed loop bandwidth is:

KVP

Speed loop bandwidth (Hz) = ( )

2π

 Speed integral compensation (KVI, P2.006)

The higher the KVI value, the better the elimination of the deviation. However, if you set

the value too high, it can cause machine jitter. It is advisable to set the value as follows:

KVI ≤ 1.5 × Speed loop bandwidth (Hz)

 Resonance suppression low-pass filter (NLP, P2.025)

A high load inertia ratio or total weight reduces the speed loop bandwidth. Therefore,

you must increase the KVP value to maintain the speed loop bandwidth. Increasing the

KVP value might cause mechanical resonance. Use this parameter to eliminate the

noise. The higher the value, the better the capability of reducing high-frequency noise.

However, if you set the value too high, it can cause instability in the speed control circuit

and overshoot. It is advisable to set the value as follows:

10000

NLP ≤ 6 × Speed loop bandwidth (Hz)

 Anti-interference gain (DST, P2.026)

Use this parameter to increase the ability to resist external force and reduce overshoot

during acceleration / deceleration. The default value is 0. Adjusting this value in Manual

mode is not suggested unless it is for fine-tuning the results of auto tuning.

Note: this gain parameter is not available when the two degree of freedom control function is

enabled (P2.094 [Bit 12] = 1).

 Position feed forward gain (PFG, P2.002)

This parameter can reduce the position error and shorten the settling time. However, if

you set the value too high, it might cause overshoot when positioning. When the

resolution of the pulse command is low, adjusting this parameter might cause noise. In

this case, try using P2.003, P1.008, and P1.068 to eliminate the noise.

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