Delta ASDA-A3 Series User Manual page 447

Parameters
Settings:
8
U
X
 X: gain switching condition
 Y: gain switching method
0: gain rate switching
1: integrator switching (P controller switches to PI controller)
Value
 UZ: reserved
P2.028
Default:
Unit:
Format:
Settings:
Controls the smoothing gain. Set this parameter to 0 to disable this function.
8-74
Z Y X
Gain switching condition
X
0 Disable gain switching function
1 Signal of gain switching (DI.GAINUP) is on
2 In position control mode, position error is larger than P2.029
3 Frequency of Position command is larger than P2.029
4 Rotation speed of servo motor is faster than P2.029
5 Signal of gain switching (DI.GAINUP) is off
6 In position control mode, position error is smaller than P2.029
7 Frequency of Position command is smaller than P2.029
8 Rotation speed of servo motor is slower than P2.029
Control mode P
P2.000 x 100%
P2.004 x 100%
0
P2.000 x P2.001
P2.004 x P2.005
P2.006 x 0%; P2.026 x 0%
1
P2.006 x 100%; P2.026 x 100%
Gain switching time constant
10
ms
DEC
Y Gain switching method
Function
Control mode S
P2.004 x 100%
P2.004 x P2.005
Control mode: All
Setting range: 0 - 1000
Data size:
UZ Reserved
Control mode
-
All
P
P
All
All
P
P
All
Gain switching
Before switching
After switching
Before switching
After switching
Address: 0238H
0239H
16-bit
ASDA-A3