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ASDA-A3
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Tuning
5.5.6 Gain adjustment mode 4
When P2.032 is set to 4, the setting value of P2.032 is restored to the value set before
initialization other than the default value after parameter reset (P2.008 = 10). For example,
if P2.032 is 1, P2.032 is still 1 after gain initialization (P2.032 = 4).
Original setting value of P2.032
0
1
2
3
Setting value of P2.032 after parameter reset
(P2.008 = 10)
1
1
1
1
Setting value of P2.032 after gain initialization
(P2.032 = 4)
0
1
2
3
When P2.032 is set to 4, if the notch filters are set to Manual for manual resonance suppression,
the related notch filter parameters are not reset. If the notch filters are automatically set, the
related notch filter parameters and the parameters in the following tables are reset to the default.
The default values of other related parameters are as follows.
Parameter
No.
P1.037
P2.000
Gain parameters
Default
Function
6.0
Load inertia ratio or
total weight
36
Position control
gain
P2.004
144 Speed control gain
P2.006
P2.031
P2.089
P2.105
P2.106
23
19
23
11
2000
Speed integral
compensation
Bandwidth
response level
Command
response gain
Automatic gain
adjustment level 1
Automatic gain
adjustment level 2
Filter and resonance suppression parameters
Parameter
No.
Default
Function
P1.025
100.0
Low-frequency vibration
suppression frequency 1
P1.026
0
Low-frequency vibration
suppression gain 1
P1.027
100.0
Low-frequency vibration
suppression frequency 2
P1.028
0
Low-frequency vibration
suppression gain 2
P2.023
1000 Notch filter 1 - frequency
P2.024
P2.025*
0
Notch filter 1 - attenuation
level
5.0
Resonance suppression
low-pass filter
P2.043
1000 Notch filter 2 - frequency
P2.044
P2.045
P2.046
P2.047
P2.049*
P2.098
P2.099
P2.101
P2.102
0
0
0
1
5.0
1000
5
100
0
Notch filter 2 - attenuation
level
Notch filter 3 - frequency
Notch filter 3 - attenuation
level
Auto resonance suppression
mode
Speed detection filter and
jitter suppression
Notch filter 4 - frequency
Notch filter 4 - attenuation
level
Notch filter 5 - frequency
Notch filter 5 - attenuation
level
Note: when P2.032 is set to 0 and then 4, the default settings of P2.025 and P2.049 are both 0.8.
5
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