Gain Switching - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive
Data size
P2.15
Modbus address

6.3.2 Gain switching

P2.20 Setting of gain 2
This parameter specifies the adjustment for gain switching.
Setting
0
[1]
Data size
P2.20
Modbus address
Switching trigger in
P2.22
position control
This parameter specifies the trigger of gain switching in position control or fully-closed loop control.
Setting Trigger
[0] Fixed to gain 1
1 Fixed to gain 2
With gain
2
switching input
Torque
3 command too
Speed
4 command too
1430, 1431
Setting range
The first gain is fixed. The speed loop action is switched to the PI or
P action based on the gain switching input (that is, the digital input
is configured as function gain switching, corresponding to 0x006) or
P4.16 [Gain switching command].
Gain switching invalid → PI action
Gain switching valid → P action
Note: 0x006 is valid when the digital inputs a low electrical level,
while 0x106 is valid when the digital inputs a high electrical level.
Switching between the first gain [P2.00–P2.04] and second gain
[P2.05–P2.09] is valid.
1440, 1441
Setting range
Gain parameters are fixed to the first gain parameters P2.00–
P2.04.
Gain parameters are fixed to the second gain parameters
P2.05–P2.09.
The first gain is used if the gain switching input is invalid.
The second gain is used if the gain switching input is valid.
When the first gain is used, if the absolute value in the torque
command exceeds (level + lag) [0.1%], the first gain is switched to
the second gain.
When the second gain is used, if the absolute value in the
large
torque command does not reach (level − lag) [0.1%] and this
state keeps in the delay time, the first gain is used.
When the first gain is used, if the absolute value in the speed
command exceeds (level + lag) [r/min], the first gain is switched
large to the second gain.
16bit Data format
CANopen address
Default
0–1 1
Meaning
16bit Data format
CANopen address
Default
0–9 0
Description
-113-
Function codes
DEC
0x220F, 0x00
Applicable
Unit
mode
- P S
DEC
0x2214, 0x00
Applicable
Unit
mode
- P
T