Auto Gain Tuning of Delta ASDA B Servo Drive

 Description:

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

 Path:

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.

 

Functions:

 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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