Control Mode Switching - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive

6.1.4 Control mode switching

Max. speed limit of
P0.90
control mode switching
This parameter specifies the maximum running speed during positioning for switching from the
speed or torque mode to the position mode when the hybrid of position and speed or the hybrid of
position and torque is used.
Data size
P0.90
Modbus address
Positioning reference of
P0.91
control mode switching
This parameter specifies the motor position R0.14 [Rotor position relative to pulse Z] after the
control mode is switched. The switching is made from the speed or torque mode to the position
mode when the hybrid of position and speed or the hybrid of position and torque is used.
Note:
 After the control mode switching, the reference point in the received position command is the
setting of this parameter. The unit of this parameter is the encoder pulse unit.
 If this parameter is set to -1 and the control mode needs to switch from speed mode to position
mode, switching is executed at the current position, without positioning to the reference point.
 If the mechanical angle corresponding to the setting of P3.50 is no more than 0.5° , the
positioning is accurate to ±P3.50. If the angle is greater than 0.5° , the positioning is accurate to
the pulse number corresponding to ± 0.5° .
Data size
P0.91
Modbus address
Position mode exiting
P0.92
This parameter specifies the method for exiting the position mode when P0.03 [Control mode] is 3
[Position/speed mode] or 4 [Position/torque mode].
Setting
[0]
1
Data size
P0.92
Modbus address
Setting
1–1000
16bit
1180, 1181
Setting
range
-1–(2
32bit
1182, 1183
Setting
method
The position mode is switched to another mode after
positioning is complete.
The position mode is immediately switched to another mode
when the control mode switching command is invalid.
32bit
1184, 1185
Default
range
100
Data format
CANopen address
Default
31
-1) -1
Data format
CANopen address
Default
range
0–1 0
Meaning
Data format
CANopen address
-101-
Function codes
Applicable
Unit
mode
r/min P S
DEC
0x205A, 0x00
Applicable
Unit
mode
pulse P S
DEC
0x205B, 0x00
Applicable
Unit
mode
- P S
DEC
0x205C, 0x00
T
T
T