Delta ASD-B2-0121-F, User Manual

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ASDA-B2-F Parameters
September, 2015
7-37
7
P2-xx Extension Parameters
P2-00 KPP Position Loop Gain
Address: 0200H
0201H
Operational
Interface:
Panel / Software Communication
Related
Section:
6.2.5
Default: 35
Control
Mode:
DMCNET
Unit: rad/s Range: 0 ~ 2047
Format: DEC Data Size: 16-bit
Settings:
Increasing the value of position loop gain can enhance the position response and diminish the
deviation of position control. However, if the value is set to be too big, it may easily cause vibration
and noise.
P2-01 PPR Switching Rate of Position Loop Gain
Address: 0202H
0203H
Operational
Interface:
Panel / Software Communication
Related
Section:
6.2.5
Default: 100
Control
Mode:
DMCNET
Unit: % Range: 10 ~ 500
Format: DEC Data Size: 16-bit
Settings:
Switch the changing rate of position loop gain according to the gain-switching condition.
P2-02 PFG Position Feed Forward Gain
Address: 0204H
0205H
Operational
Interface:
Panel / Software Communication
Related
Section:
6.2.5
Default: 50
Control
Mode:
DMCNET
Unit: % Range: 0 ~ 100
Format: DEC Data Size: 16-bit
Settings:
If the position command is changed smoothly, increasing the gain value can reduce the position
error. If the position command is not changed smoothly, decreasing the gain value can tackle the
problem of mechanical vibration.
P2-03 PFF Smooth Constant of Position Feed Forward Gain
Address: 0206H
0207H
Operational
Interface:
Panel / Software Communication
Related
Section:
-
Default: 5
Control
Mode:
DMCNET
Unit: ms Range: 2 ~ 100
Format: DEC Data Size: 16-bit
Settings:
If the position command is changed smoothly, decreasing the value can reduce the position
following error. If the position command is not changed smoothly, increasing the value can tackle the
problem of mechanical vibration.
P2-04 KVP Speed Loop Gain
Address: 0208H
0209H
Operational
Interface:
Panel / Software Communication
Related
Section:
6.3.5
Default: 500
Control
Mode:
ALL
Unit: rad/s Range: 0 ~ 8191
Format: DEC Data Size: 16-bit
Settings:
Increasing the value of speed loop gain can enhance the speed response. However, if the value is
set to be too big, it would easily cause vibration and noise.