Delta Electronics ASDA-A2 Series User Manual page 332

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A: Gain Switching Condition Settings:
0: Disabled
1: Gain switching DI (Digital Input) signal (GAINUP) is On. (see Table 8.A)
2: In position mode, position deviation is higher than the setting value of P2-29.
3: Position command frequency is higher than the setting value of P2-29.
4: Servo motor speed is higher than the setting value of P2-29.
5: Gain switching DI (Digital Input) signal (GAINUP) is Off. (see Table 8.A)
6: In position mode, position deviation is lower than the setting value of P2-29.
7: Position command frequency is lower than the setting value of P2-29.
8: Servo motor speed is lower than the setting value of P2-29.
B: Gain Switching Control Settings:
0: Gain multiple switching
1: P  PI switching
P2 - 28 GUT
Default: 10
Applicable Control Mode: ALL
Unit: 10msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the time constant when switching the smooth gain.
If P2-28 is set to 0, this parameter is disabled.
Revision January 2011
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Setting P mode
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%
Gain Switching Time Constant
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S mode
P2-04 x 100%
P2-04 x P2-05
P2-06 x 0%
P2-26 x 0%
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Chapter 8 Servo Parameters
Status
Before switching
After switching
Before switching
After switching
Address: 0238H, 0239H
Related Section: N/A
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