Delta ASDA-B2-F Series User Manual page 159

Parameters
P2-27
Operational
Interface:
Default: 0
7
Format: HEX
Settings:

Gain switching condition:
0: Disable gain switching function.
1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than the setting value of P2-29.
3: The frequency of position command is bigger than the setting value of P2-29.
4: The speed of servo motor is faster than the setting value of P2-29.
5: The signal of gain switching (GAINUP) is OFF.
6: In position control mode, the position error is smaller than the setting value of P2-29.
7: The frequency of position command is smaller than the setting value of P2-29.
8: The speed of servo motor is slower than the setting value of P2-29.

Gain switching method:
0: Gain switching
1: Integrator switching P -> PI
P2-28
Operational
Interface:
Default: 10
Format: DEC
Example: 15 = 150 ms
Settings:
It is for switching the smooth gain. (0: Disable this function)
P2-29
Operational
Interface:
Default: 1280000
Format: DEC
Settings:
The setting of gain switching (pulse, Kpps, r/min) is determined by the selection of gain switching
(P2-27).
7-42
GCC Gain Switching and Switching Selection
Panel / Software Communication
Unit: -
Gain switching conditon
Gain switching method
Not in use
Setting Control Mode
Value DMCNET
P2-00 x 100%
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05
1
P2-06 x 100%; P2-26 x 100%
GUT Gain Switching Time Constant
Panel / Software Communication
Unit: 10 ms
GPE Gain Switching
Panel / Software Communication
Unit: Pulse, Kpps, r/min
Related
Section:
Control
Mode:
Range: 0x0000 ~ 0x0018
Data Size: 16-bit
Control Mode
Sz
P2-04 x 100%
P2-04 x P2-05
P2-06 x 0%; P2-26 x 0%
Related
Section:
Control
Mode:
Range: 0 ~ 1000
Data Size: 16-bit
Related
Section:
Control
Mode:
Range: 0 ~ 3840000
Data Size: 32-bit
Address: 0236H
0237H
-
ALL
-
Before switching
After switching
Before switching
After switching
Address: 0238H
0239H
-
ALL
Address: 023AH
023BH
-
ALL
ASDA-B2-F
September, 2015