Delta ASDA-A3 Series, User Manual

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ASDA-A3 Parameters
8-5
8
Filter and resonance suppression parameters (continued)
Parameter
No.
Function Default value Unit
Control mode
PT PR S T
P2.043 Notch filter frequency (2) 1000 Hz O O O O
P2.044 Notch filter attenuation level (2) 0
-
dB O O O O
P2.045 Notch filter frequency (3) 1000 Hz O O O O
P2.046 Notch filter attenuation level (3) 0
-
dB O O O O
P2.047 Auto resonance suppression mode 0x0001
-
O O O O
P2.048 Auto resonance detection level 100
-
O O O O
P2.025 Resonance suppression low-pass filter
1.0 (panel /
software)
1 ms (panel /
software)
O O O O
10
(communication)
0.1 ms
(communication)
P2.049
Speed detection filter and jitter
suppression
1.0 (panel /
software)
1 ms (panel /
software)
O O O O
10
(communication)
0.1 ms
(communication)
P2.095 Notch filter bandwidth (1) 5
-
O O O O
P2.096 Notch filter bandwidth (2) 5
-
O O O O
P2.097 Notch filter bandwidth (3) 5
-
O O O O
P2.098 Notch filter frequency (4) 1000 Hz O O O O
P2.099 Notch filter attenuation level (4) 0
-
dB O O O O
P2.100 Notch filter bandwidth (4) 5
-
O O O O
P2.101 Notch filter frequency (5) 1000 Hz O O O O
P2.102 Notch filter attenuation level (5) 0
-
dB O O O O
P2.103 Notch filter bandwidth (5) 5
-
O O O O
Gain and switching parameters
Parameter
No.
Function Default value Unit
Control mode
PT PR S T
P1.037 Load inertia ratio or total weight
6.0
(panel /
software)
1 times, 1 kg
(panel /
software)
O O O O
60
(communication)
0.1 times, 0.1 kg
(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
0x0000
-
O O O O
P2.028 Gain switching time constant 10 ms O O O O