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Wednesday, 28 March 2012

Auto Gain Tuning of Delta ASDA B Servo Drive

To make the Servo system to work stably and most effectively, it is necessary to adjust the circuit loop gain value of the servo drive properly. This option provides some effective tools to optimize the operation of the servo system

The user can click Tools -> Auto Gain Tuning command from the menu bar or click on the icon directly  on the tool bar to execute this option and open the following dialog box.

 There are two tabs in this dialog box, one is Off-line Computation (Static Auto-tuning) and the other is  On-line Auto Tuning (Dynamic Auto-tuning). Please refer to the following descriptions for the functions:

1) Off-line Computation  (Static Auto-tuning)
 When not connecting to the servo drive, pressing “Compute” button can calculate the value of the related gain parameters and display in the Calculation Result Area on the screen according to the conditions (B.W., JL/Jm, and Rigid Holding) set by the user. B.W. represents the responsiveness, JL/Jm represents the ratio of load inertia to motor inertia, and Rigid Holding represents the stiffness settings. The user can change these conditions manually and press “=>>” to upload the value shown in "Calculation Result Area" into the servo drive and display in "In Drive" area on the above screen. 
Note:The above function works only when the servo drive is in Manual mode, i.e. P2-32 is set to 0. If the servo drive in not Manual mode, an inquiry message dialog box will appear to ask the user if the servo drive is set to Manual mode already. 

2) On-line Auto Tuning  (Dynamic Auto-tuning)

When connecting to the servo drive, the servo drive will command the servo motor run in sine wave position back and forth to estimate the ratio of load inertia to motor inertia and take the result to calculate the gain value.   

In the figure above, the value of Turn and Freq. (Rev: Revolution, Freq.: Frequency) represents the magnitude and frequency of the sine wave position command individually and the value of Time represents the duration of the sine wave position command
If the user select "Assign Band-Width using P2-31" option, it means the level of  stiffness and responsiveness are adjusted by P2-31. When the user choose this option, the "To assign P2-31(Band width), must set auto gain mode (P2-32 X=1, or X=2)" this option will display automatically for the user to change the auto-tuning mode to AutoMode conveniently. The setting value of P2-31, responsiveness is also higher. But the overhigh setting value will make an impact on the stability of servo system.
If the user not select "Assign Band-Width using P2-31" option, it means the level of  stiffness and responsiveness are not adjusted by P2-31. The servo drive will perform auto-tuning operation according to the conditions (B.W., JL/Jm, and Rigid Holding) set by the user. After auto-tuning operation is completed, the servo drive will determine the appropriate responsiveness and write it back to P2-31. 

Press “Start Tuning “, and the servo motor will run in sine wave position, stop when the setting time is reached and display the adjusted gain value "In Drive" area. The user can press “<<=”to copy the parameter setting value and send into "Calculation Result Area" and modify it if necessary. After modification is completed, press “ =>>”to download the parameter setting value into the servo drive.

Functions of Button:
Upload:Upload (Read) the relevant gain parameters of the servo drive and display in "In Drive" area.

<<=:Copy the parameter setting value displayed in "In Drive" area and write into "Calculation Result Area".

=>>:Download the parameter setting value displayed in "Calculation Result Area" and save into the servo drive. At the same time, the parameter setting value shown in "In Drive" area will be updated also.

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