Delta ASDA-A3 Series User Manual page 325

Parameters
Settings:
8
U
X
X: gain switching condition

0: disable gain switching function
1: signal of gain switching (GAINUP) is on
2: in position control mode, position error is
3: frequency of Position command is larger than
4: rotation speed of servo motor is faster than
Y: gain switching method

0: gain rate switching
1: integrator switching (P controller switches to PI controller)
Value
UZ: not in use

P2.028
Default:
Unit:
Format:
Example:
Settings:
Controls the smoothing gain. Set this parameter to 0 to disable this function.
P2.029
Default:
Unit:
Format:
8-68
Z Y X
Gain switching condition
larger than P2.029
P2.029
P2.029
Control mode P
P2.000 x 100%
P2.004 x 100%
0
P2.000 x P2.001
P2.004 x P2.005
P2.006 x 0%; P2.026 x 0%
1
P2.006 x 100%; P2.026 x 100%
Gain switching time constant
10
ms
DEC
15 = 150 ms
Gain switching condition
16777216
pulse; kpps; rpm
DEC
Y Gain switching method
5: signal of gain switching (GAINUP) is off
6: in position control mode, position error is
smaller than P2.029
7: frequency of Position command is smaller
than P2.029
8: rotation speed of servo motor is slower than
P2.029
Control mode S Gain switching
P2.004 x 100%
P2.004 x P2.005 After switching
After switching
Control mode: All
Setting range: 0 – 1000
Data size: 16-bit
Control mode: All
Setting range: 0 – 50331648
Data size: 32-bit
UZ Reserved
Before
switching
Before
switching
Address: 0238H
0239H
Address: 023AH
023BH
Revision December, 2017
ASDA-A3