Chapter 5 Trial Operation and TuningASDA-A2R Series5-16 Revision December, 20145.6.4 Flowchart of Semi-auto TuningDescription of Semi-auto Tuning:Set P2-32 to 2. After tuning for a while and wait until the system inertia is stable, it stopsestimating. The estimated inertia ratio will be saved to P1-37. When switching mode frommanual or auto to semi auto, the system starts tuning again. During the process ofestimation, the system will refer the stiffness and bandwidth setting of P2-31. Increasethe value of P2-31 to increase the response or decrease to reduce the noise. Continue totune until the performance is satisfied. Then, tuning is completed.P2-31: Response setting in auto mode (The default value is 80). The bigger the value is,the better the response will be.In auto and semi-auto mode, the bandwidth setting of speed circuit is:1~50Hz: low-stiffness, low-response51~250Hz: medium-stiffness, medium-response251~850Hz: high-stiffness, high-response851~1000Hz: extremely high-stiffness, extremely high-responseNote:1. Note: Inertia ratio is for rotary motor; while total weight of movable section andload (kg) is for linear motor2. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode iscompleted. The result can be accessed by P1-37. If the value of P2-33 bit 0 iscleared to 0, the system will start to estimate again.
