Delta ASDA-A3 Series User Manual page 706

ASDA-A3
P2.088
Default: 0x0000
Unit: -
Format: HEX
Settings:
7 6
Bit
15 14
Bit
Bit
Bit 0 - Bit 2
Bit 3
Bit 4
Bit 5 - Bit 15
P2.089
Default: 25
Unit: rad/s
Format: DEC
Settings:
Increasing this gain speeds up the responsiveness of the Position command and shortens the settling
time, but when the gain is too large, it causes position overshoot which leads to machine jitter.
Note: enable the two degree of freedom control function (P2.094 [Bit 12] = 1) before adjusting this parameter.
P2.090
Default: 850
Unit: 0.001
Format: DEC
Settings:
This parameter improves the command response and fine tunes the overshoot when the command is
settling. Set this parameter to a smaller value to reduce the occurrence of command overshoot. This
parameter is only valid when the two degree of freedom control function is enabled (P2.094 [Bit 12] = 1)
and its function is similar to that of P2.026.
Motor special bit register
5 4 3 2 1
12
13 11 10 9
Function
Reserved -
0: do not adjust the strength of the speed loop integrator.
(Integrator strength = P2.004 x P2.005 x P2.006)
Maintain the
1: when the gain switching function (P2.027) is enabled, it can avoid
strength of the gain
reducing the integrator strength when the speed control gain
switch integrator
(P2.004) is switched.
(Integrator strength = P2.004 x P2.006)
Position pulse
This function is only available in PT mode.
input is prohibited
0: receive position pulse normally.
during initial
1: position pulse input is prohibited until the initial magnetic field
magnetic field
detection is complete.
detection
Reserved -
Command response gain
Two degree of freedom mode - anti-interference gain
Control mode: PT / PR / S / Sz
Setting range: 0x0000 to 0xFFFF
Data size: 16-bit
0
8
Description
Control mode: PT / PR
Setting range: 1 to 2000
Data size: 16-bit
Control mode: PT / PR
Setting range: 500 to 1999
Data size: 16-bit
Parameters
Address: 02B0H
02B1H
Address: 02B2H
02B3H
Address: 02B4H
02B5H
8
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