Delta Electronics ASDA-B Series User Manual
Page 164
Chapter 7 Servo Parameters|ASDA-B Series
Revision January, 2009
7-11
Gain and Switch
Control
Mode
Parameter
Name
Function
Default
Unit
P
S
T
P2-00 KPP
Proportional
Position Loop Gain
50
rad/s {
P2-01
PPR
Position Loop Gain Switching Rate
100
%
{
P2-02
PFG
Position Feed Forward Gain
0
%
{
P2-03 PFF
Smooth Constant of Position Feed
Forward Gain
5 ms
{
P2-04
KVP
Proportional Speed Loop Gain
300
rad/s { {
P2-05
SPR
Speed Loop Gain Switching Rate
100
%
{
{
P2-06
KVI
Speed Integral Compensation
50
rad/s { {
P2-07
SFG
Speed Feed Forward Gain
0
%
{
P2-26
DST
External Anti-Interference Gain
0
N/A
{
{
{
P2-27
GCC
Gain Switching Control Selection
0
N/A
{
{
P2-28
GUT
Gain Switching Time Constant
10
10ms
{
{
P2-29
GPE
Gain Switching Condition
10000
pulse
Kpps
rpm
{
{
P2-31■
AUT1
Auto Stiffness and Responsiveness
Level
6 N/A
{
{
{
P2-32▲
AUT2
Tuning Mode Selection
0 N/A
{
{
{
Explanation of symbols (marked after parameter)
(★) Read-only
register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.