Delta ASDA-B2 Series User Manual page 223

Chapter 7 Parameters
P2-28 GUT
Operation
Interface:
Default: 10
Control
Mode:
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Example: 15 = 150 msec
Settings: It is for switching the smooth gain. (0: disable this function)
P2-29 GPE
Operation
Interface:
Default: 160000
Control
Mode:
Range: 0 ~ 3840000
Data Size: 32-bit
Format: Decimal
Settings: The setting of gain switching (Pulse error, Kpps, r/min) is
7-62
the value of P2-29.
8: When the speed of servo motor is slower than the value of
P2-29.
 Gain Switching Control Settings
0: Gain switching
1: Integrator switching, P  PI
Setting
Control mode P Control mode P S
Value
P2-00 x 100%
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05
1
Gain Switching Time Constant
Panel/Software
ALL
Unit: 10ms
Gain Switching
Panel/Software
ALL
Unit: pulse, Kpps, r/min
determined by the selection of gain switching (P2-27).
P2-04 x 100%
P2-04 x P2-05
P2-06 x 0%
P2-26 x 0%
P2-06 x 100%
P2-26 x 100%
Communication
Communication
ASDA-B2
Status
Before switching
After switching
Before switching
After switching
Address: 0238H
0239H
Related Section: N/A
Address: 023AH
023BH
Related Section: N/A
Revision May, 2018