P2.Xxx Extension Parameters - Delta ASDA-B3 Series User Manual

ASDA-B3

P2.xxx Extension parameters

P2.000
Default: 35
Unit: rad/s
Format: DEC
Settings:
Increasing the position control gain can enhance the position response and reduce the position errors.
If you set the value too high, it may cause vibration and noise.
P2.001
Default: 100
Unit: %
Format: DEC
Settings:
Adjust the rate of change for the position control gain (P2.000) according to the gain switching
condition.
P2.002
Default: 50
Unit: %
Format: DEC
Settings:
If the position control command changes smoothly, increasing the gain value can reduce the position
following errors. If the position control command does not change smoothly, decreasing the gain value
can reduce the mechanical vibration.
P2.003
Default: 5
Unit: ms
Format: DEC
Settings:
If the position control command changes smoothly, decreasing the smoothing constant value can
reduce the position following errors. If the position control command does not change smoothly,
increasing the smoothing constant value can reduce the mechanical vibration.
Position control gain
Rate of change for position control gain
Position feed forward gain
Position feed forward gain smoothing constant
Control mode: PT / PR
Setting range: 0 to 2047
Data size: 16-bit
Control mode: PT / PR
Setting range: 10 to 500
Data size: 16-bit
Control mode: PT / PR
Setting range: 0 to 100
Data size: 16-bit
Control mode: PT / PR
Setting range: 2 to 100
Data size: 16-bit
Parameters
Address: 0200H
0201H
Address: 0202H
0203H
Address: 0204H
0205H
Address: 0206H
0207H
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