Delta ASDA-B2 Series User Manual page 213

Chapter 7 Parameters
P2-03 PFF
Operation
Interface:
Default: 5
Control
Mode:
Range: 2 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: If the position command is changed smoothly, decreasing the
P2-04 KVP
Operation
Interface:
Default: 500
Control
Mode:
Range: 0 ~ 8191
Data Size: 16-bit
Format: Decimal
Settings: Increase the value of speed loop gain can enhance the speed
P2-05 SPR
Operation
Interface:
Default: 100
Control
Mode:
Range: 10 ~ 500
Data Size: 16-bit
Format: Decimal
Settings: Switch the changing rate of speed loop gain according to the gain
7-52
Smooth Constant of Position Feed
Forward Gain
Panel/Software
PT
Unit: ms
value can reduce the position error. If the position command is not
changed smoothly, increasing the value can tackle the problem of
mechanical vibration.
Speed Loop Gain
Panel/Software
ALL
Unit: rad/s
response. However, if the value is set too big, it would easily
cause resonance and noise.
Speed Loop Gain Switching Rate
Panel/Software
ALL
Unit: %
switching condition.
Communication
Communication
Communication
ASDA-B2
Address: 0206H
0207H
Related Section: N/A
Address: 0208H
0209H
Related Section:
6.3.6
Address: 020AH
020BH
Related Section: N/A
Revision May, 2018