ASDA-M Chapter 5 Trial Operation and TuningRevision December, 2014 5-215.6.8 Tuning in Manual ModeThe selection of position / speed response frequency should be determined by themachinary stiffness and application. General speaking, the high-frequency machinary orthe one requries precise processing needs the higher response frequency. However, itmight easily cause the resonance. And the stronger stiffness machinary is needed to avoidthe resonance. When using the unknown resonse frequency machinary, users couldgradually increase the gain setting value to increase the resonse frequency. Then,decrease the gain setting value until the resonance exists. The followings are the relateddescriptions of gain adjustment. Position control gain (KPP, parameter P2-00)This parameter determines the response of position loop. The bigger KPP value willcause the higher response frequency of position loop. And it will cause betterfollowing error, smaller position error, and shorter settling time. However, if the valueis set too big, the machinery will vibrate or overshoot when positioning. Thecalculation of position loop frequency response is as the following: Speed control gain (KVP, parameter P2-04)This parameter determines the response of speed loop. The bigger KVP value willcause the higher response frequency of speed loop and better following error.However, if the value is set too big, it would easily cause machinery resonance. Theresponse frequency of speed loop must be 4~6 times higher than the responsefrequency of position loop. Otherwise, the machinery might vibrate or overshootwhen positioning. The calculation of speed loop frequency response is as thefollowing:When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the realspeed loop frequency response will be: = H zK VP2 Speed integral compensation (KVI, parameter P2-06)The higher the KVI value is, the better capability of eliminating the deviation will be.However, if the value is set too big, it might easily cause the vibration of machinery. Itis suggested to set the value as the following:JM: motor inertiaJL: load inertiaP1-37: 0.1 times
