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ASDA-A3
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Parameters
Gain and switching parameters
Parameter
No.
Function
Default value
Control mode
Unit
PT PR S T
P1.037 Load inertia ratio or total weight
6.0
1 times (rotary)
(panel /
1 kg (linear)
software) (panel / software)
OOO -
60
0.1 times (rotary)
(communication) 0.1 kg (linear)
(communication)
P1.078 Gain switching delay time
0
ms
OOO -
P1.079
Rate of change for gain values during
gain switching delay
100
%
OOO -
P1.080
Rate of change for speed detection
filter and jitter suppression
100
%
OOO -
P2.000 Position control gain
35
rad/s
OO - -
P2.001
Rate of change for position control
gain
100
%
OO - -
P2.002 Position feed forward gain
50
%
OO - -
P2.003
Position feed forward gain smoothing
constant
5
ms
OO - -
P2.004 Speed control gain
500
rad/s
OOO -
P2.005 Rate of change for speed control gain
100
%
OOO -
P2.006 Speed integral compensation
100
rad/s
OOO -
P2.007 Speed feed forward gain
0
%
OOO -
P2.026 Anti-interference gain
0
rad/s
OOO -
P2.027
Gain switching condition and method
selection
0x0000
-
O O OO
P2.028 Gain switching time constant
10
ms
O O OO
P2.029 Gain switching condition
16777216
pulse
Kpps
rpm (mm/s)
O O OO
P2.031 Bandwidth response level
19
-
O O OO
P2.032 Gain adjustment mode
0x0001
-
O O OO
P2.053 Position integral compensation
0
rad/s
OO - -
P2.089 Command response gain
25
rad/s
OO - -
P2.090
Two degree of freedom mode - anti-
interference gain
850
0.001
OO - -
P2.091
Two degree of freedom mode -
position feed forward gain
1000
0.1%
OO - -
P2.092
Two degree of freedom mode -
speed feed forward gain
1000
0.1%
OO - -
P2.094▲ Special bit register 3
0x1090 (A3-M,
A3-L, A3-E)
-
O O OO
0x0090 (A3-F)
P2.104
Torque command condition for P/PI
switching
800
%
OO - -
P2.105 Automatic gain adjustment level 1
11
-
O O OO
P2.106 Automatic gain adjustment level 2
2000
pulse
O O OO
P2.107
Rate of change for resonance
suppression low-pass filter
100
%
O O OO
P2.112▲ Special bit register 4
0x0018
-
O O OO
P2.126 Bandwidth for speed loop response
40
Hz
O O OO
8
8-7
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Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com