Delta ASDA-M Series - Page 236

ASDA-M Chapter 8 Parameters
Revision December, 2014 8-5
P2-47 ANCF
Auto Resonance Suppression
Mode Setting
1 N/A O O O O -
P2-48 ANCL
Resonance Suppression
Detection Level
100 N/A O O O O -
P2-25 NLP
Low-pass Filter of Resonance
Suppression
0.2 or
0.5
1ms O O O O 6.3.7
P2-49 SJIT Speed Detection Filter 0 N/A O O O O -
(★) Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●) Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■) Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
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 1 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
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