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ASDA-A3
Gain and switching parameters
Parameter
No.
P1.037
Load inertia ratio or total weight
P1.078
Gain switching delay time
Rate of change for gain values during
P1.079
gain switching delay
Rate of change for speed detection
P1.080
filter and jitter suppression
P2.000
Position control gain
Rate of change for position control
P2.001
gain
P2.002
Position feed forward gain
Position feed forward gain smoothing
P2.003
constant
P2.004
Speed control gain
P2.005
Rate of change for speed control gain
P2.006
Speed integral compensation
P2.007
Speed feed forward gain
P2.026
Anti-interference gain
Gain switching condition and method
P2.027
selection
P2.028
Gain switching time constant
P2.029
Gain switching condition
P2.031
Bandwidth response level
P2.032
Gain adjustment mode
P2.053
Position integral compensation
P2.089
Command response gain
Two degree of freedom mode - anti-
P2.090
interference gain
Two degree of freedom mode -
P2.091
position feed forward gain
Two degree of freedom mode -
P2.092
speed feed forward gain
P2.094▲
Special bit register 3
Torque command condition for P/PI
P2.104
switching
P2.105
Automatic gain adjustment level 1
P2.106
Automatic gain adjustment level 2
Rate of change for resonance
P2.107
suppression low-pass filter
P2.112▲
Special bit register 4
P2.126
Bandwidth for speed loop response
Function
(communication)
0x1090 (A3-M,
0x0090 (A3-F)
Default value
Unit
1 times (rotary)
6.0
(panel /
1 kg (linear)
software)
(panel / software)
0.1 times (rotary)
60
0.1 kg (linear)
(communication)
0
ms
100
%
100
%
35
rad/s
100
%
50
%
5
ms
500
rad/s
100
%
100
rad/s
0
%
0
rad/s
0x0000
-
10
ms
pulse
16777216
Kpps
rpm (mm/s)
19
-
0x0001
-
0
rad/s
25
rad/s
850
0.001
1000
0.1%
1000
0.1%
A3-L, A3-E)
-
800
%
11
-
2000
pulse
100
%
0x0018
-
40
Hz
Parameters
Control mode
PT PR S
T
8
O O O
-
O O O
-
O O O
-
O O O
-
O O
-
-
O O
-
-
O O
-
-
O O
-
-
O O O
-
O O O
-
O O O
-
O O O
-
O O O
-
O O O
O
O O O
O
O O O
O
O O O
O
O O O
O
O O
-
-
O O
-
-
O O
-
-
O O
-
-
O O
-
-
O O O
O
O O
-
-
O O O
O
O O O
O
O O O
O
O O O
O
O O O
O
8-7
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Troubleshooting
