Delta ASDA-A3 Series User Manual page 687

Parameters

Z: fixed resonance suppression parameter
In auto resonance suppression mode, you can set the resonance suppression parameters
manually by setting P2.047.Z.
8
Bit
1 to 3
Example: if P2.047 = 0x0021, the auto resonance suppression function is enabled, and the servo
searches for the point of resonance and suppresses it. When you set Y [Bit 1] to 1, you manually set the
second set of resonance suppression parameters. Then, if the servo finds 2 resonance points, it writes
the data of the 1
rd
to the 3
P2.048
Default: 100
Format: DEC
Settings:
If P2.048 is larger, the resonance sensitivity is lower; on the other hand, if P2.048 is smaller, the
resonance sensitivity is higher.
P2.049
Operation
interface:
Default: 1.0
Setting range: 0.0 to 100.0
Format: One decimal
Example: 1.5 = 1.5 ms
Settings:
Sets the filter for speed estimation. Adjusting this parameter can improve the extent of the speed jitter,
but when the value is too high, the phase margin affecting the speed loop decreases, and thus makes
the system unstable.
8-110
Function
0 Notch 5 auto / manual setting
Reserved
st st
point to the 1 set of resonance suppression parameters and the data of the 2
set of resonance suppression parameters. That is, it skips the 2
Auto resonance detection level
Unit: -
Speed detection filter and jitter suppression
Panel / software Communication
10
Unit: 1 ms
0.1 ms
0 to 1000
DEC
15 = 1.5 ms
Description
0: auto resonance suppression
1: manually set the fifth set of resonance suppression
parameters
-
Control mode: All
Setting range: 0 to 1000
Data size: 16-bit
Control mode: All
Data size: 16-bit
- -
- -
- -
- -
nd
point
nd
set of parameters.
Address: 0260H
0261H
Address: 0262H
0263H
ASDA-A3