P2.Xxx Extension Parameters - Delta ASDA-A3 Series User Manual

ASDA-A3

P2.xxx Extension parameters

P2.000
Default: 35
Unit:
rad/s
Format: DEC
Settings:
Increasing the value of the position control gain can enhance the position response and reduce the
position errors. If you set the value too high, it may cause vibration and noise.
P2.001
Default: 100
Unit:
%
Format: DEC
Settings:
Adjust the rate of change of position control gain according to the gain switching condition.
P2.002
Default: 50
Unit:
%
Format: DEC
Settings:
If the position control command changes position smoothly, increasing the gain value can reduce position
following errors. If it does not change smoothly, decreasing the gain value can reduce mechanical vibration.
This gain parameter is disabled when the two dimensional control function is on (P2.094 [Bit 12] = 1).
P2.003
Default: 5
Unit:
ms
Format: DEC
Settings:
If the position control command changes position smoothly, decreasing the smoothing constant value
can reduce the position following errors. If it does not change smoothly, increasing the smoothing
constant value can reduce mechanical vibration.
Revision December, 2017
Position control gain
Position control gain rate of change
Position feed forward gain
Position feed forward gain smoothing constant
Control mode: PT / PR
Setting range: 0 – 2047
Data size: 16-bit
Control mode: PT / PR
Setting range: 10 – 500
Data size: 16-bit
Control mode: PT / PR
Setting range: 0 – 100
Data size: 16-bit
Control mode: PT / PR
Setting range: 2 – 100
Data size: 16-bit
Parameters
Address: 0200H
0201H
Address: 0202H
0203H
Address: 0204H
0205H
Address: 0206H
0207H
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