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Parameters
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ASDA-A3
8
P2.088
Motor special bit register
Default: 0x0000
Unit: -
Format: HEX
Settings:
Address: 02B0H
02B1H
Control mode: PT / PR / S / Sz
Setting range: 0x0000 to 0xFFFF
Data size: 16-bit
Bit 7 6 5 4 3 2 1 0
Bit 15 14 13 12 11 10 9 8
Bit
Bit 0 - Bit 2
Bit 3
Bit 4
Bit 5 - Bit 15
Function
Reserved
Maintain the
strength of the gain
switch integrator
Position pulse
input is prohibited
during initial
magnetic field
detection
Reserved
Description
-
0: do not adjust the strength of the speed loop integrator.
(Integrator strength = P2.004 x P2.005 x P2.006)
1: when the gain switching function (P2.027) is enabled, it can avoid
reducing the integrator strength when the speed control gain
(P2.004) is switched.
(Integrator strength = P2.004 x P2.006)
This function is only available in PT mode.
0: receive position pulse normally.
1: position pulse input is prohibited until the initial magnetic field
detection is complete.
-
P2.089
Command response gain
Default: 25
Unit: rad/s
Format: DEC
Address: 02B2H
02B3H
Control mode: PT / PR
Setting range: 1 to 2000
Data size: 16-bit
Settings:
Increasing this gain speeds up the responsiveness of the Position command and shortens the settling
time, but when the gain is too large, it causes position overshoot which leads to machine jitter.
Note: enable the two degree of freedom control function (P2.094 [Bit 12] = 1) before adjusting this parameter.
P2.090
Two degree of freedom mode - anti-interference gain
Address: 02B4H
02B5H
Default: 850
Control mode: PT / PR
Unit: 0.001
Setting range: 500 to 1999
Format: DEC
Data size: 16-bit
Settings:
This parameter improves the command response and fine tunes the overshoot when the command is
settling. Set this parameter to a smaller value to reduce the occurrence of command overshoot. This
parameter is only valid when the two degree of freedom control function is enabled (P2.094 [Bit 12] = 1)
and its function is similar to that of P2.026.
8-130
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