Delta ASDA-A3 Series User Manual page 310

ASDA-A3
P1.062
Default: 0
Unit: %
Format: DEC
Settings:
The level of friction compensation. For the percentage of rated torque, set the value to 0 to disable the
function; set the value to 1 or above to enable the function.
P1.063
Default: 1
Unit: ms
Format: DEC
Settings:
Set the smoothing constant of friction compensation.
P1.064 –
P1.067
P1.068
Default:
4
Unit: ms
Format: DEC
Settings:
0: disable this function
The moving filter activates the smoothing function at the beginning and end of the step, but it also delays
the command.
Holding time
P1.069 –
P1.071
Revision December, 2017
Percentage of friction compensation
Constant of friction compensation
Reserved
Position command - Moving filter
Original position
command
Reserved
Control mode: PT / PR / S / Sz
Setting range: 0 – 100
Data size: 16-bit
Control mode: PT / PR / S / Sz
Setting range: 1 – 1000
Data size: 16-bit
Control mode: PT / PR
Setting range: 0 – 100
Data size: 16-bit
Command that
has gone through
moving filter
Parameters
Address: 017CH
017DH
Address: 017EH
017FH
Address: 0188H
0189H
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