Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Parameters
Revision December, 2017
8-61
8
P2.xxx Extension parameters
P2.000 Position control gain
Address: 0200H
0201H
Default: 35 Control mode: PT / PR
Unit:
rad/s
Setting range: 0 – 2047
Format: DEC Data size: 16-bit
Settings:
Increasing the value of the position control gain can enhance the position response and reduce the
position errors. If you set the value too high, it may cause vibration and noise.
P2.001 Position control gain rate of change
Address: 0202H
0203H
Default: 100 Control mode: PT / PR
Unit:
%
Setting range: 10 – 500
Format: DEC Data size: 16-bit
Settings:
Adjust the rate of change of position control gain according to the gain switching condition.
P2.002 Position feed forward gain
Address: 0204H
0205H
Default: 50 Control mode: PT / PR
Unit:
%
Setting range: 0 – 100
Format: DEC Data size: 16-bit
Settings:
If the position control command changes position smoothly, increasing the gain value can reduce position
following errors. If it does not change smoothly, decreasing the gain value can reduce mechanical vibration.
This gain parameter is disabled when the two dimensional control function is on (P2.094 [Bit 12] = 1).
P2.003 Position feed forward gain smoothing constant
Address: 0206H
0207H
Default: 5 Control mode: PT / PR
Unit:
ms
Setting range: 2 – 100
Format: DEC Data size: 16-bit
Settings:
If the position control command changes position smoothly, decreasing the smoothing constant value
can reduce the position following errors. If it does not change smoothly, increasing the smoothing
constant value can reduce mechanical vibration.