Delta ASDA-B3 Series, User Manual

Page: 291 / 815

Parameters ASDA-B3
8-6
8
Gain and switching parameters
Parameter
No.
Function Default value Unit
Control mode
PT PR S T
P1.037 Load inertia ratio
6.0
0.0 (B3-F)
(panel /
software)
1 times
(panel /
software)
O O O O
60
0 (B3-F)
(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
0x0000 - O O O O
P2.028 Gain switching time constant 10 ms O O O O
P2.029 Gain switching condition 16777216
pulse
kpps
rpm
O O O O
P2.031 Bandwidth response level 19 - O O O O
P2.032 Gain adjustment mode
0x0001
0X0000 (B3-F)
- O O O O
P2.053 Position integral compensation 0 rad/s O O O O
P2.089 Command response gain 25 rad/s O O - -
P2.094▲ Special bit register 3
0x1010
0X0010 (B3-F)
- O O O -
P2.104
P/PI torque switching command
condition
800 % O O O -
P2.105 Automatic gain adjustment level 1 11 - O O - -
P2.106 Automatic gain adjustment level 2 2000 pulse O O - -
P2.112▲ Special bit register 4 0x0018 - O O O -
(
★
) Read-only parameter. Can only read the value of the parameter. For example, P0.000, P0.010, and P4.000.
(▲) Parameter cannot be changed when servo is in Servo On status. For example, P1.000 and P1.046.
( ● ) Parameter changes become valid after power cycling. For example, P1.001 and P3.000.
( ■ ) Parameter resets to its default value after power cycling. For example, P3.006.