Delta ASD-A2 Series User Manual page 355

Chapter 8 Parameters
Settings：
P2-28 GUT
Operational
Interface：
Default： 10
Control
Mode：
Range： 0 ~ 1000
8-104
 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 value
of P2-29.
3: The frequency of position command is bigger than the value of P2-
29.
4: When the speed of servo motor is faster than the 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
value of P2-29.
7: When the frequency of position command is smaller than the value
of P2-29.
8: When the speed of servo motor is slower than the value of P2-29.
 Gain switching method:
0: Gain switching
1: Integrator switching, P -> PI
Setting
Control Mode P
Value
P2-00 x 100%
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05
1
Gain Switching Time Constant
Panel / Software
ALL
Unit： 10ms
Gain switching conditon
Gain switching method
Not in use
Control Mode S
P2-04 x 100%
P2-04 x P2-05
P2-06 x 0%
P2-26 x 0%
P2-06 x 100%
P2-26 x 100%
Communication
ASDA-A2
Before switching
After switching
Before switching
After switching
Address: 0238H
0239H
Related Section: -
Revision February, 2017