Delta ASD-A2-0121 Series User Manual page 403

Chapter 8 Parameters
Unit： -
Range： 0x0000 ~ 0x0018
Data Size： 16-bit
Format： Hexadecimal
Settings：
8-104
Gain switching condition:

0: Disable gain switching function.
1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than the value
of P2-29.
3: The frequency of position command is bigger than the value of
P2-29.
4: When the speed of servo motor is faster than the value of P2-29.
5: The signal of gain switching (GAINUP) is OFF.
6: In position control mode, the position error is smaller than the
value of P2-29.
7: When the frequency of position command is smaller than the value
of P2-29.
8: When the speed of servo motor is slower than the value of P2-29.
Gain switching method:

0: Gain switching
1: Integrator switching, P -> PI
Setting
Control Mode P
Value
P2-00 x 100%
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05
1
Gain switching conditon
Gain switching method
Not in use
Control Mode S
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%
ASDA-A2
Before switching
After switching
Before switching
After switching