Delta ASD-A3-0121, User Manual

Page: 263 / 603

Parameters ASDA-A3
8-6
Revision December, 2017
8
Gain and switching parameters
Parameter
No.
Function Default value Unit
Control mode
PT PR S T
P1.037
Load inertia ratio and load weight ratio
to servo motor
6.0
(panel /
software)
1 times
(panel /
software)
O O O O
60
(communication)
0.1 times
(communication)
P2.000 Position control gain 35 rad/s O O - -
P2.001 Position control gain rate of change 100 % O O - -
P2.002 Position feed forward gain 50 % O O - -
P2.003
Position feed forward gain smoothing
constant
5 ms O O - -
P2.004 Speed control gain 500 rad/s O O O O
P2.005 Speed control gain rate of change 100 % O O O O
P2.006 Speed integral compensation 100 rad/s O O O O
P2.007 Speed feed forward gain 0 % O O O O
P2.026 Anti-interference gain 0 rad/s O O O O
P2.027
Gain switching condition and method
selection
0 - O O O O
P2.028 Gain switching time constant 10 10 ms O O O O
P2.029 Gain switching condition 16777216
pulse
kpps
rpm
O O O O
P2.031 Response bandwidth level 19 Hz O O O O
P2.032 Gain adjustment mode 1 - O O O O
P2.053 Position integral compensation 0 rad/s O O O O
P2.089 Command responsiveness gain 25 rad/s O O - -
P2.094 ▲ Special bit register 3 0x1000 - O O O -
P2.104
P/PI torque switching command
condition
200 % O O O -
P2.105 Automatic gain adjustment level 1 11 - O O - -
P2.106 Automatic gain adjustment level 2 2000 - O O - -
P2.112 ▲ Special bit register 4 0x0008 - O O O -
(
★
) Read-only parameter. Can only read the value of the parameter. For example, P0.000, P0.010, P4.000, etc.
(▲) Parameter cannot be changed when servo is in Servo On status. For example, P1.000 and P1.046.
( ● ) Parameter changes become valid after cycling the power. For example, P1.001 and P3.000.
( ■ ) Parameter resets to its default value after cycling the power. For example, P2.031 and P3.006.