Delta ASDA-A3 Series User Manual page 671

Parameters
P2.004
Default: 500
8
Format: DEC
Settings:
Increasing the speed control gain can enhance the speed response. If you set the value too high, it may
cause vibration and noise.
P2.005
Default: 100
Format: DEC
Settings:
Adjust the rate of change for the speed control gain (P2.004) according to the gain switching condition.
P2.006
Default: 100
Format: DEC
Settings:
Increasing the value of the integral speed control can enhance the speed response and reduce the
deviation in speed control. If you set the value too high, it may cause vibration and noise.
P2.007
Default: 0
Format: DEC
Settings:
If the speed control command changes smoothly, increasing the gain value can reduce the speed
following errors. If the speed control command does not change smoothly, decreasing the gain value
can reduce mechanical vibration.
8-94
Speed control gain
Unit: rad/s
Rate of change for speed control gain
Unit: %
Speed integral compensation
Unit: rad/s
Speed feed forward gain
Unit: %
Control mode: PT / PR / S / Sz
Setting range: 0 to 8191
Data size: 16-bit
Control mode: PT / PR / S / Sz
Setting range: 10 to 500
Data size: 16-bit
Control mode: PT / PR / S / Sz
Setting range: 0 to 1023
Data size: 16-bit
Control mode: PT / PR / S / Sz
Setting range: 0 to 100
Data size: 16-bit
ASDA-A3
Address: 0208H
0209H
Address: 020AH
020BH
Address: 020CH
020DH
Address: 020EH
020FH