Delta Electronics ASDA-AB manual Pff, Spr, Speed Loop Gain Switching Rate Communication Addr H

Chapter 7 Servo ParametersASDA-AB Series

P2 - 03	PFF	Smooth Constant of Position Feed Forward Gain	Communication Addr.: 0203H
	Default: 5		Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: ms

Range: 2 ~ 100

Settings:

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		Related Section:
Applicable Control Mode: ALL		Section 6.3.6
Unit: rad/s
Range: 0 ~ 20000
Settings:

This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response. However, if the setting value is over high, it may generate vibration or noise.

P2 - 05

SPR	Speed Loop Gain Switching Rate	Communication Addr.: 0205H
Default: 100		Related Section: N/A
Applicable Control Mode: ALL
Unit: %

Range: 10 ~ 500

Settings:

This parameter is used to set the speed gain switching rate when the gain switching condition is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for gain switching condition settings.

7-52 Revision January 2009