Delta ASD-B2-0121-B, User Manual

Page: 197 / 313

Chapter 7 Servo Parameters
7-44
Revision June 2010
P2 - 03 PFF
Smooth Constant of Position Feed
Forward Gain
Address: 0206H, 0207H
Default: 5 Related Section: N/A
Applicable Control Mode: PT
Unit: msec
Range: 2 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
When using position smooth command, increase gain can improve position track
deviation. When not using position smooth command, decrease gain can improve
the resonance condition of mechanical system.
P2 - 04 KVP Proportional Speed Loop Gain Address: 0208H, 0209H
Default: 500 Related Section:
Applicable Control Mode: ALL Section 6.3.6
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed loop gain. When the value of proportional
speed loop gain is increased, it can expedite speed loop response. However, if the
setting value is over high, it may generate vibration or noise.
P2 - 05 SPR Speed Loop Gain Switching Rate Address: 020AH, 020BH
Default: 100 Related Section: N/A
Applicable Control Mode: ALL
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed gain switching rate when the gain
switching condition is satisfied. Please refer to P2-27 for gain switching control
selection settings and refer to P2-29 for gain switching condition settings.