Delta ASD-B2-0121-B, User Manual

Page: 157 / 313

Chapter 7 Servo Parameters
7-4
Revision June 2010
Gain and Switch
Control Mode
Parameter Name Function Default Unit
PT S T
Related
Section
P2-00 KPP Proportional Position Loop Gain 35 rad/s O 6.2.8
P2-01 PPR
Position Loop Gain Switching
Rate
100 % O 6.2.8
P2-02 PFG Position Feed Forward Gain 50 % O 6.2.8
P2-03 PFF
Smooth Constant of Position
Feed Forward Gain
5 ms O -
P2-04 KVP Proportional Speed Loop Gain 500 rad/s O O O 6.3.6
P2-05 SPR Speed Loop Gain Switching Rate 100 % O O O -
P2-06 KVI Speed Integral Compensation 100 rad/s O O O 6.3.6
P2-07 KVF Speed Feed Forward Gain 0 % O O O 6.3.6
P2-26 DST External Anti-Interference Gain 0 0.001 O O O -
P2-27 GCC
Gain Switching Control
Selection
0 N/A O O O -
P2-28 GUT Gain Switching Time Constant 10 10ms O O O -
P2-29 GPE Gain Switching Condition 1280000
pulse
Kpps
r/min
O O O -
5.6
P2-31 AUT1
Speed Frequency Response
Level in Auto and Semi-Auto
Mode
80 Hz O O O
6.3.6
5.6
P2-32
▲
AUT2 Tuning Mode Selection 0 N/A O O O
6.3.6
Explanation of symbols (marked after parameter)
(
★
) Read-only register.
(
▲
) Parameter cannot be set when Servo On (when the servo drive is enabled).
(
z
) Parameter is effective only after the servo drive is restarted (after switching power off and
on).
(
„
) Parameter setting values are not retained when power is off.