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Tuning

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ASDA-A3

5

5.4.5.2 Automatic gain adjustment level 2 (P2.106) - response adjustment

P2.106 sets the maximum overshoot. A proper setting of the amount of overshoot increases the

system response. The higher the setting value, the greater the allowable amount of overshoot.

For mechanical parts with higher stiffness, the setting of P2.106 affects the position loop

parameters P2.000 and P2.089 instead of the parameters related to speed loop gain and filters.

Position

Position command

Position feedback

P2.106

Time

Parameter setting range: 1 to (224 × 3) (unit: pulse); default: 2000

P2.106 = 1

P2.106 = 30000

Command position

Feedback position

(pulse)

Command position

Feedback position

(pulse)

Allowable amount of overshoot ≤ 1 pulse

Settling time: 59.2 ms

Allowable amount of overshoot ≤ 30000 pulses

Settling time: 12.4 ms

5-30

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