INVT DA180-S2R8SG0 Operation Manual page 120

DA180 series basic AC servo drive
Position
5 deviation too
With position
6
command input
Positioning
7
incomplete
Actual speed
8
too high
Position
9 command +
actual speed
Data size
P2.22
Modbus address
When the second gain is used, if the absolute value in the
speed command does not reach (level − lag) [r/min] and this
state keeps in the delay time, the second gain is switched to the
first gain.
When the first gain is used, if the absolute value of the position
deviation exceeds (level + lag) [pulse], the first gain is switched to
the second gain.
When the second gain is used, if the absolute value of the
position deviation does not reach (level − lag) [pulse] and this
state keeps in the delay time, the second gain is switched to the
large
first gain.
Note: The unit of level and lag is the encoder resolution unit in
position control and is the
fully-closed loop control.
When the first gain is used, if the position command is not 0, the
first gain is switched to the second gain.
When the second gain is used, if the position command is 0 and
this state keeps in the delay time, the second gain is switched to
the first gain.
When the first gain is used, if positioning is not complete, the first
gain is switched to the second gain.
When the second gain is used, if positioning is complete and
this state keeps in the delay time, the second gain is switched to
the first gain.
When the first gain is used, if the absolute value of the actual
speed exceeds (level + lag) [r/min], the first gain is switched to
the second gain.
When the second gain is used, if the absolute value of the
actual speed does not reach (level − lag) [r/min] and this state
keeps in the delay time, the second gain is switched to the first
gain.
When the first gain is used, if the position command is not 0, the
first gain is switched to the second gain.
When the second gain is used, if the position command is 0,
this state keeps in the delay time, and the absolute value of the
actual speed does not reach (level − lag) [r/min], the second gain
is switched to the first gain.
1444, 1445
grating ruler
16bit Data format
CANopen address
-114-
Function codes
resolution unit in
DEC
0x2216, 0x00