Gain Adjustment Mode 4 - Delta ASDA-A3 Series User Manual

Tuning

5.5.6 Gain adjustment mode 4

When P2.032 is set to 4, the setting value of P2.032 is restored to the value set before
5
initialization other than the default value after parameter reset (P2.008 = 10). For example,
if P2.032 is 1, P2.032 is still 1 after gain initialization (P2.032 = 4).
Setting value of P2.032 after parameter reset
Setting value of P2.032 after gain initialization
When P2.032 is set to 4, if the notch filters are set to Manual for manual resonance suppression,
the related notch filter parameters are not reset. If the notch filters are automatically set, the
related notch filter parameters and the parameters in the following tables are reset to the default.
When P2.032 is set to the default value of 1, the default values of other related parameters are
as follows.
Parameter
No.
P1.037
P2.000
P2.004
P2.006
P2.031
P2.089
P2.105
P2.106
Note: when P2.032 is set to 0 and then 4, the default settings of P2.025 and P2.049 are both 0.8.
5-32
Original setting value of P2.032
(P2.008 = 10)
(P2.032 = 4)
Gain parameters
Default Function
Load inertia ratio or
6.0
total weight
Position control
36
gain
144 Speed control gain
Speed integral
23
compensation
Bandwidth
19
response level
Command
23
response gain
Automatic gain
11
adjustment level 1
Automatic gain
2000
adjustment level 2
0 1
1 1
0 1
Filter and resonance suppression parameters
Parameter
Default
No.
Low-frequency vibration
P1.025 100.0
suppression frequency 1
Low-frequency vibration
P1.026 0
suppression gain 1
Low-frequency vibration
P1.027 100.0
suppression frequency 2
Low-frequency vibration
P1.028 0
suppression gain 2
P2.023 1000 Notch filter 1 - frequency
Notch filter 1 - attenuation
P2.024 0
level
Resonance suppression
P2.025* 5.0
low-pass filter
P2.043 1000 Notch filter 2 - frequency
Notch filter 2 - attenuation
P2.044 0
level
P2.045 0 Notch filter 3 - frequency
Notch filter 3 - attenuation
P2.046 0
level
Auto resonance suppression
P2.047 1
mode
Speed detection filter and
P2.049* 5.0
jitter suppression
P2.098 1000 Notch filter 4 - frequency
Notch filter 4 - attenuation
P2.099 5
level
P2.101 100 Notch filter 5 - frequency
Notch filter 5 - attenuation
P2.102 0
level
ASDA-A3
2 3
1 1
2 3
Function