Delta ASDA-A3 Series User Manual page 470

ASDA-A3
P2.089
Default: 25
Unit: rad/s
Format: DEC
Settings:
Increasing this gain speeds up the responsiveness of the Position command and shortens the tuning
time, but when the gain is too large, it causes position overshoot which leads to machine jitter.
Note: enable the two dimensional control function (P2.094 [Bit 12] = 1) before adjusting this parameter.
P2.090 -
P2.093
P2.094▲
Default: 0x1000
Unit:
-
Format: HEX
Settings:
Bit
Bit 15 - 13
Bit 12
Bit 11 - 10
Bit 9
Bit 8
Bit 7 - 6
Bit 5
Bit 4
Bit 3 - 0
Command response gain
Reserved
Special bit register 3
Function
Reserved
-
0: disable two dimensional control function
Two dimensional
control function
1: enable two dimensional control function
Reserved
-
0: disable second set of vibration elimination
Second set of 1: enable second set of vibration elimination (P1.092 - P1.094)
vibration elimination
Vibration elimination takes effect only when the two dimensional
control function P2.094 [Bit 12] is enabled.
0: disable first set of vibration elimination
First set of vibration 1: enable first set of vibration elimination (P1.089 - P1.091)
elimination
Vibration elimination takes effect only when the two dimensional
control function P2.094 [Bit 12] is enabled.
Reserved
-
0: enable AL016 IGBT overheat alarm
Cancel AL016 IGBT
overheat alarm
1: disable AL016 IGBT overheat alarm
0: disable new dynamic brake
Dynamic brake
1: enable new dynamic brake and force use the DC Bus voltage to
options
determine the timing of regenerative energy consumption
Reserved
-
Control mode: PT / PR
Setting range: 1 - 2000
Data size: 16-bit
Control mode: PT / PR / S / Sz
Setting range: 0x0000 - 0xF3A6
Data size: 16-bit
Description
Parameters
Address: 02B2H
02B3H
Address: 02BCH
02BDH
8
8-97