Delta ASDA-A3 Series User Manual page 339

Tuning
P2.027.Y: gain switching method
0: gain rate switching
1: integrator switching (switch from P controller to PI controller)
5
Before switching
P2.000 x 100%
P2.004 x 100%
P2.025 x 100%
P2.026 x 100%
P2.049 x 100%
Before switching
P2.004 x 100%
P2.025 x 100%
P2.026 x 100%
P2.049 x 100%
When P2.027.X is set to 0, 1, 2, 4, 5, 6, or 8, the gain switching delay time (P1.078) is not
supported. P2.027.X = 4 is taken as the example in the following figure.
P2.027.X = 4
P2.029
Motor speed
-P2.029
5-72
Y = 0
After switching
P2.000 x P2.001
P2.004 x P2.005
P2.025 x P2.107
P2.026 x 100%
P2.049 x P1.080
Y = 0
After switching
P2.004 x P2.005
P2.025 x P2.107
P2.026 x 100%
P2.049 x P1.080
Refer to the Refer to the
Before switching After switching
column of P2.027.Y column of P2.027.Y
PT / PR
Before switching
P2.000 x 100%
P2.004 x 100%
P2.025 x 100%
P2.026 x 0%
P2.049 x 100%
S / Sz
Before switching
P2.004 x 100%
P2.025 x 100%
P2.026 x 0%
P2.049 x 100%
Refer to the Refer to the
Before switching After switching
column of P2.027.Y column of P2.027.Y
ASDA-A3
Y = 1
After switching
P2.000 x P2.001
P2.004 x 100%
P2.025 x P2.107
P2.026 x 100%
P2.049 x P1.080
Y = 1
After switching
P2.004 x 100%
P2.025 x P2.107
P2.026 x 100%
P2.049 x P1.080
Refer to the
Before switching
column of P2.027.Y