Delta ASD-A2R-0221 Series - Page 237

Chapter 8 ParametersASDA-A2R Series
Revision December, 2014
8-5
P2-49 SJIT Speed Detection Filter 0 - O O O O -
Gain and Switch Parameter
Parameter Abbr. Function Default Unit
Control Mode
Related
Section
PT PR S T
P2-00 KPP Position Loop Gain 35 rad/s O O 6.2.8
P2-01 PPR
Switching Rate of Position
Loop Gain
100 % O O 6.2.8
P2-02 PFG Position Feed Forward Gain 50 % O O 6.2.8
P2-03 PFF
Smooth Constant of Position
Feed Forward Gain
5 ms O O -
P2-04 KVP Speed Loop Gain 500 rad/s O O O O 6.3.6
P2-05 SPR
Switching Rate of Speed Loop
Gain
100 % O O O O -
P2-06 KVI Speed Integral Compensation 100 rad/s O O O O 6.3.6
P2-07 KVF Speed Feed Forward Gain 0 % O O O O 6.3.6
P2-26 DST Anti-interference Gain 0 0.001 O O O O -
P2-27 GCC
Gain Switching and Switching
Selection
0 N/A O O O O -
P2-28 GUT Gain Switching Time Constant 10
10
ms
O O O O -
P2-29 GPE Gain Switching
1280000
pulse
Kpps
r/min
(rotary
motor)
3
10

m/s
(linear
motor)
O O O O -
P2-31■ AUT1
Speed Loop Frequency
Response Setting in Auto and
Semi-auto Mode
80 Hz O O O O
5.6
6.3.6
P2-32▲ AUT2 Tuning Mode Selection 0 N/A O O O O
5.6
6.3.6
Position Control Parameter
Parameter Abbr. Function Default Unit
Control Mode
Related
Section
PT PR S T
P1-01● CTL
Input Setting of Control Mode
and Control Command
0
pulse
r/min
N-M
O O O O 6.1