Group 2: P2-Xx Extension Parameters - Delta ASDA-A2 Series User Manual

Group 2: P2-xx Extension Parameters

P2 - 00 KPP Proportional Position Loop Gain
Default: 35
Applicable Control Mode: Pt, Pr
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise.
P2 - 01 PPR Position Loop Gain Switching Rate
Default: 100
Applicable Control Mode: Pt, Pr
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position gain switching rate when the gain switching condition
is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29
for gain switching condition settings.
P2 - 02 PFG Position Feed Forward Gain
Default: 50
Applicable Control Mode: Pt, Pr
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system.
Revision April, 2010
Chapter 8 Servo Parameters|ASDA-A2 Series
Related Section: Section 6.2.8
Related Section: Section 6.2.8
Related Section: Section 6.2.8
Address: 0200H, 0201H
Address: 0202H, 0203H
Address: 0204H, 0205H
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