Delta Electronics ASDA-AB Benutzerhandbuch

Chapter 5  Trial Run and Tuning Procedure|ASDA-AB Series 

Revision January 2009 

 

 

5-23 

Tuning Mode 

P2-32 

AutoSet 

Parameter

User-defined Parameter 

Gain Value

Manual Mode 

0(Default 

setting) 

None 

P2-00 (Proportional Position Loop Gain) 
P2-04 (Proportional Speed Loop Gain) 
P2-06 (Speed Integral Compensation) 
P2-25 (Low-pass Filter Time Constant of 
Resonance Suppression) 

Fixed 

AutoMode (PI) 

[Continuous] 

2 

P2-00 
P2-04 
P2-06 

P2-31 Value B (Level of Responsiveness) 
P2-25 (Low-pass Filter Time Constant of 
Resonance Suppression) 

Continuous 

Adjusting 

AutoMode (PI) 

[Fixed Inertia] (The 

inertia ratio is 

determined by P1-

37) 

3 

P2-00 
P2-04 
P2-06 

P1-37 (Ratio of Load Inertia to Servo Motor 
Inertia [J_load / J_motor]) 
P2-31 Value B (Level of Responsiveness) 
P2-25 (Low-pass Filter Time Constant of 
Resonance Suppression) 

Fixed 

AutoMode (PDFF) 

[Continuous] 

4 

P2-00 
P2-04 
P2-06 
P2-25 
P2-26 

P2-31 Value B (Level of Responsiveness) 

Continuous 

Adjusting 

AutoMode (PDFF) 

[Fixed Inertia] (The 

inertia ratio is 

determined by P1-

37) 

5 

P2-00 
P2-04 
P2-06 
P2-25 
P2-26 

P1-37 (Ratio of Load Inertia to Servo Motor 
Inertia [J_load / J_motor]) 
P2-31 Value B (Level of Responsiveness) 

Fixed 

When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value 

that measured in #3 auto-tuning mode. 

When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will change 

to the value that measured in #5 auto-tuning 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 users 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: