Delta ASDA-A3 Series User Manual page 678

ASDA-A3
P2.027
Default: 0x0000
Unit: -
Format: HEX
Settings:
X Gain switching condition
Y Gain switching method

X: gain switching condition
X
0 Disable gain switching function.
1 Signal of gain switching (DI.GAINUP: 0x03) is on.
2 In Position control mode, position error is larger than P2.029.
3 Frequency of Position command is larger than P2.029.
4 Speed of servo motor is faster than P2.029.
5 Signal of gain switching (DI.GAINUP: 0x03) is off.
6 In Position control mode, position error is smaller than P2.029.
7 Frequency of Position command is smaller than P2.029.
8 Speed of servo motor is slower than P2.029.

Y: gain switching method
0: gain rate switching
1: integrator switching (switch from P controller to PI controller)
Before switching
P2.000 x 100%
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, P1.078 (Gain switching delay time) 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
Gain switching condition and method selection
Condition
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
Refer to the Before Refer to the After
switching column switching column
of P2.027.Y of P2.027.Y
Control mode: Refer to X: gain switching condition
Setting range: 0x0000 - 0x0018
Data size: 16-bit
Z Reserved
U Reserved
Control mode
-
All
PT / PR
PT / PR
All
All
PT / PR
PT / PR
All
PT / PR
Y = 1
Before switching
P2.000 x 100%
P2.004 x 100%
P2.025 x 100%
P2.026 x 0%
P2.049 x 100%
Refer to the
Refer to the After
Before switching
switching column of
column of
P2.027.Y
P2.027.Y
Parameters
Address: 0236H
0237H
P1.078
(Gain switching
delay time)
-
-
-
Supported
-
-
-
Supported
-
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
Refer to the
Before switching
column of
P2.027.Y
8
8-101