User manual

Chapter 7 Parameters ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
7-40
Group 2: P2-xx Extension Parameters
P2 - 00 KPP
Proportional Position Loop Gain Communication Addr.: 0200H
Default: 35 Applicable Control Mode: P
Range: 0~1023
Unit: rad/s
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise. In easy mode, the value of this parameter is set to the default of the
easy mode automatically.
P2 - 01 PPR
Position Gain Switching Rate Communication Addr.: 0201H
Default: 100 Applicable Control Mode: P
Range: 10~500
Unit: %
This parameter is used to set the position gain switching rate according to gain switching
condition.
P2 - 02 PFG
Position Feed Forward Gain Communication Addr.: 0202H
Default: 5000 Applicable Control Mode: P
Range: 10~20000
Unit: 0.0001
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation. When
not using position smooth command, decrease gain can improve the resonance condition of
mechanical system.
P2 - 03 PFF
Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H
Default: 5 Applicable Control Mode: P
Range: 2~100
Unit: msec
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system.
P2 - 04 KVP
Proportional Speed Loop Gain Communication Addr.: 0204H
Default: 500 Applicable Control Mode: P/S
Range: 2~100
Unit: msec