INVT DA180-S2R8SG0 Operation Manual page 118

DA180 series basic AC servo drive
Speed feed-forward
P2.11
This parameter specifies the speed feed-forward filter time.
Data size
P2.11
Modbus address
P2.12
feed-forward gain
This parameter specifies the torque feed-forward gain. After the torque is calculated according to
the speed control command, the torque multiplied by the setting of this parameter is added to the
torque command from speed control.
Increasing the torque feed-forward gain can improve response performance in ACC/DEC and
reduce position deviation.
Data size
P2.12
Modbus address
Torque feed-forward
P2.13
This parameter specifies the torque feed-forward filter time.
Data size
P2.13
Modbus address
P2.14 IPPI coefficient 1
This parameter specifies the first IPPI coefficient.
Note: IP control is applied when it is set to 0, while PI control is applied when it is set to 100.
Data size
P2.14
Modbus address
P2.15 IPPI coefficient 2
This parameter specifies the second IPPI coefficient.
Note: IP control is applied when it is set to 0, while PI control is applied when it is set to 100.
Setting range
filter time
0.00–64.00
1422, 1423
Setting range
Torque
0.0–100.0
1424, 1425
Setting range
filter time
0.00–64.00
1426, 1427
Setting range
1428, 1429
Setting range
Default
0.50
16bit Data format
CANopen address
Default
0.0
16bit Data format
CANopen address
Default
0.00
16bit Data format
CANopen address
Default
0–1000 100
16bit Data format
CANopen address
Default
0–1000 100
-112-
Function codes
Applicable
Unit
mode
ms P
DEC
0x220B, 0x00
Applicable
Unit
mode
% P S
DEC
0x220C, 0x00
Applicable
Unit
mode
ms P S
DEC
0x220D, 0x00
Applicable
Unit
mode
% P S
DEC
0x220E, 0x00
Applicable
Unit
mode
% P S
T
T