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ASDA-A3

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Parameters

P2.027

Gain switching condition and method selection

Address: 0236H

0237H

Default: 0x0000

Control mode: Refer to X: gain switching condition

Unit: -

Setting range: 0x0000 - 0x0018

Format: HEX

Data size: 16-bit

Settings:

UZ YX

X Gain switching condition

Y Gain switching method

Z Reserved

U Reserved

 X: gain switching condition

Condition

Control mode

0 Disable gain switching function.

1 Signal of gain switching (DI.GAINUP: 0x03) is on.

2 In Position control mode, position error is larger than P2.029.

3 Frequency of Position command is larger than P2.029.

4 Speed of servo motor is faster than P2.029.

5 Signal of gain switching (DI.GAINUP: 0x03) is off.

6 In Position control mode, position error is smaller than P2.029.

7 Frequency of Position command is smaller than P2.029.

8 Speed of servo motor is slower than P2.029.

All

PT / PR

All

PT / PR

All

P1.078

(Gain switching

delay time)

Supported

 Y: gain switching method

0: gain rate switching

1: integrator switching (switch from P controller to PI controller)

PT / PR

Y = 0

Y = 1

Before switching

After switching

Before switching

After switching

P2.000 x 100%

P2.000 x P2.001

P2.000 x 100%

P2.000 x P2.001

P2.004 x 100%

P2.004 x P2.005

P2.004 x 100%

P2.025 x 100%

P2.025 x P2.107

P2.025 x 100%

P2.025 x P2.107

P2.026 x 100%

P2.026 x 0%

P2.026 x 100%

P2.049 x 100%

P2.049 x P1.080

P2.049 x 100%

P2.049 x P1.080

When P2.027.X is set to 0, 1, 2, 4, 5, 6, or 8, P1.078 (Gain switching delay time) is not supported.

P2.027.X = 4 is taken as the example in the following figure.

P2.027.X = 4

P2.029

Motor speed

-P2.029

Refer to the Before Refer to the After

switching column switching column

of P2.027.Y

Refer to the

Before switching

column of

P2.027.Y

Refer to the After

switching column of

P2.027.Y

Refer to the

Before switching

column of

P2.027.Y

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

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