Smooth Constant Of Position Feed Forward Gain Communication; Speed Loop Gain Switching Rate - Delta Electronics ASDA-B Series User Manual

Chapter 7 Servo Parameters|ASDA-B Series
P2 - 03 PFF Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H
Default: 5
Applicable Control Mode: P
Unit: ms
Range: 2 ~ 100
Settings:
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system.
P2 - 04 KVP Proportional Speed Loop Gain
Default: 300
Applicable Control Mode: P/S
Unit: rad/s
Range: 0 ~ 4095
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can expedite speed loop response. However, if the setting value is over high,
it may generate vibration or noise. In AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
P2 - 05 SPR

Speed Loop Gain Switching Rate

Default: 100
Applicable Control Mode: P/S
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the speed gain switching rate when the gain switching condition is
satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for
gain switching condition settings.
P2 - 06 KVI Speed Integral Compensation
Default: 50
Applicable Control Mode: P/S
Unit: rad/s
Range: 0 ~ 1023
7-40
Related Section:
Section 6.2.6, P2-02
Communication Addr.: 0204H
Related Section:
Section 6.3.6, P2-27
Communication Addr.: 0205H
Related Section:
Section 6.3.6, P2-27, P2-29
Communication Addr.: 0206H
Related Section:
Section 6.3.6
Revision January, 2009