Speed Loop Gain Switching Rate - Delta ASD-B2-0121-B User Manual

Chapter 7 Servo Parameters
P2 - 03 PFF
Default: 5
Applicable Control Mode: PT
Unit: msec
Range: 2 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
When using position smooth command, increase gain can improve position track
deviation. When not using position smooth command, decrease gain can improve
the resonance condition of mechanical system.
P2 - 04 KVP
Default: 500
Applicable Control Mode: ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed loop gain. When the value of proportional
speed loop gain is increased, it can expedite speed loop response. However, if the
setting value is over high, it may generate vibration or noise.
P2 - 05 SPR
Default: 100
Applicable Control Mode: ALL
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed gain switching rate when the gain
switching condition is satisfied. Please refer to P2-27 for gain switching control
selection settings and refer to P2-29 for gain switching condition settings.
7-44
Smooth Constant of Position Feed
Forward Gain
Proportional Speed Loop Gain

Speed Loop Gain Switching Rate

Address: 0206H, 0207H
Related Section: N/A
Address: 0208H, 0209H
Related Section:
Section 6.3.6
Address: 020AH, 020BH
Related Section: N/A
Revision June 2010