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Tuning

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ASDA-A3

5.6.2 Flowchart of manual tuning in Position mode

5

Start

Inertia (weight)

estimation

Increase speed

loop bandwidth

No

Resonance No

Satisfied with

occurs?

the response?

Yes

Yes

Refer to Sections 5.7.1 and 5.7.2

for resonance suppression

Resonance Yes

eliminated?

No

Decrease the bandwidth until

no resonance occurs

Set P2.000 = P2.089 = P2.004 / 4

Refer to Section 5.7.4 for

low-frequency vibration

suppression settings

Low-frequency

No

vibration during

positioning?

Yes

No

System Analysis

provides optimal

vibration elimination

settings?

Yes

Vibration elimination setting

with System Analysis

Adjust parameters based on

application needs

Point-to-point positioning

Reduce

overshoot

Reduce

transient error

Adjust P2.000 Increase P2.002

and P2.089

Increase P1.061

Improve the

response

Increase

P2.000*

and P2.089

Contour following

Reduce angle

contour error in

circular motion

Reduce contour

error

Adjust P1.062

and P1.063

Decrease

P1.008 and

P1.068

Note: it is advisable to set P2.004 four times (or more) the setting value of P2.000; otherwise a jitter occurs

in the corner contour.

5-44

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