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ASDA-A3

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Tuning

5.7.5.3 Application example of two degree of freedom control function

This section describes the parameter settings when the two degree of freedom control function

is used in Manual Mode (P2.032 = 0). Refer to the following steps.

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Switch the servo status to Servo ON and then start tuning. Change the parameter settings and

at the same time use the Scope function to verify if the settings meet the requirements. It is

advisable to increase the bandwidth gradually. To adjust the bandwidth significantly, enable the

auto resonance suppression function (P2.047.X ≠ 0), set P2.047.Y and P2.047.Z to auto mode,

and do not set the corresponding resonance parameters.

1. Increase the setting values of P2.000 and P2.089 while maintaining the ratio of P2.000 to

P2.089 at approximately 1:1.

2. When the mechanical parts start to vibrate or generate high-frequency sounds, stop

increasing P2.000 and decrease P2.000 until the mechanical parts are stable.

3. To increase the servo response, setting P2.089 higher to reduce the transient error of

command response, but the position overshoot becomes greater. It is recommended that

the setting value of P2.089 should be no more than two times the setting value of P2.000.

4. To fine-tune the positioning behavior, you can adjust P2.090.

Relevant parameter

Refer to Chapter 8 for detailed descriptions of the relevant parameters.

Parameter

P2.000

P2.089

P2.090

P2.091

P2.092

P2.094

Function

Position control gain

Command response gain

Two degree of freedom mode - anti-interference gain

Two degree of freedom mode - position feed forward gain

Two degree of freedom mode - speed feed forward gain

Special bit register 3 (enable the two degree of freedom control function)

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