Gain Adjustment Mode 3 - Delta ASDA-B3 Series User Manual

ASDA-B3

5.3.4 Gain adjustment mode 3

When Gain adjustment modes 1 and 2 cannot meet your need, try Gain adjustment mode 3 to
tune the servo system. P2.089 (Command response gain) is available in this mode. You can
increase the gain value to shorten the response and settling time for the position command.
However, if you set the parameter value too high, it might cause position overshoot and machinery
vibration. This function is only available for changing commands, such as the acceleration /
deceleration application, which improves the response. However, when the two-degrees-of-
freedom control function is disabled (set P2.094 [Bit 12] to 0), the effect of Gain adjustment mode
3 is the same as that of Gain adjustment mode 2, so setting P2.089 is invalid in that scenario.
P2.032
setting Adjustment mode
value
Gain adjustment
3
Inertia estimation
Fixed set value of
mode 3 P1.037
Parameter
Manual
P2.000, P2.004,
P2.006, P2.023,
P2.024, P2.025,
P1.037, P2.031, P2.043, P2.044,
P2.089 P2.045, P2.046,
P2.049, P2.098,
P2.099, P2.101,
Tuning
5
Auto
P2.102
5-17