Chapter 7 Servo Parameters
|
ASDA-A&A+ Series
Revision April 2009
7-5
Group 2: P2-xx
Extension Parameters
Control
Mode
Parameter
Name
Function
Default
Unit
Pt Pr S T
P2-00 KPP
Proportional
Position Loop Gain
35
rad/s
{
{
P2-01
PPR
Position Loop Gain Switching Rate
100
%
{
{
P2-02
PFG
Position Feed Forward Gain
5000
0.0001
{
{
P2-03 PFF
Smooth Constant of Position Feed
Forward Gain
5 ms
{
{
P2-04
KVP
Proportional Speed Loop Gain
500
rad/s
{
{ { {
P2-05
SPR
Speed Loop Gain Switching Rate
100
%
{
{ { {
P2-06
KVI
Speed Integral Compensation
100
N/A
{
{ { {
P2-07
SFG
Speed Feed Forward Gain
0
0.0001
{
{ { {
P2-08
■
PCTL
Special Factory Setting
0 N/A
{
{ { {
P2-09 DRT
Bounce
Filter
2 2ms
{
{ { {
P2-10
DI1
Digital Input Terminal 1 (DI1)
101
N/A
{
{ { {
P2-11
DI2
Digital Input Terminal 2 (DI2)
104
N/A
{
{ { {
P2-12
DI3
Digital Input Terminal 3 (DI3)
116
N/A
{
{ { {
P2-13
DI4
Digital Input Terminal 4 (DI4)
117
N/A
{
{ { {
P2-14
DI5
Digital Input Terminal 5 (DI5)
102
N/A
{
{ { {
P2-15
DI6
Digital Input Terminal 6 (DI6)
22
N/A
{
{ { {
P2-16
DI7
Digital Input Terminal 7 (DI7)
23
N/A
{
{ { {
P2-17
DI8
Digital Input Terminal 8 (DI8)
21
N/A
{
{ { {
P2-18
DO1
Digital Output Terminal 1 (DO1)
101
N/A
{
{ { {
P2-19
DO2
Digital Output Terminal 2 (DO2)
103
N/A
{
{ { {
P2-20
DO3
Digital Output Terminal 3 (DO3)
109
N/A
{
{ { {
P2-21
DO4
Digital Output Terminal 4 (DO4)
105
N/A
{
{ { {
P2-22
DO5
Digital Output Terminal 5 (DO5)
7
N/A
{
{ { {
P2-23
NCF
Notch Filter (Resonance Suppression)
1000
Hz
{
{ { {
P2-24 DPH
Notch Filter Attenuation Rate
(Resonance Suppression)
0 dB
{
{ { {
P2-25 NLP
Low-pass Filter Time Constant
(Resonance Suppression)
2 or 5
ms
{
{ { {
P2-26
DST
External Anti-Interference Gain
0
0.001
{
{ { {
P2-27
GCC
Gain Switching Control Selection
0
N/A
{
{ { {
P2-28
GUT
Gain Switching Time Constant
10
10ms
{
{ { {
P2-29
GPE
Gain Switching Condition
10000
pulse
Kpps
r/min
{
{ { {
P2-30
■
INH
Auxiliary Function
0 N/A
{
{ { {
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