INVT DA180-S2R8SG0 Operation Manual page 121

DA180 series basic AC servo drive
Switching delay in
P2.23
position control
In position control, if P2.22 is in the range of 3–9, the first gain is switched back from the second
gain. This parameter specifies the time from the triggering to the actual switching.
Data size
P2.23
Modbus address
Switching level in
P2.24
position control
In position control, if P2.22 is in the range of 3–5, or set to 8 or 9, the trigger of gain switching must
be set. The unit varies with the switching mode and associated settings.
Note: The level must be equal to the lag at least.
Data size
P2.24
Modbus address
Switching lag in
P2.25
position control
In position control, if P2.22 is in the range of 3–5, or set to 8 or 9, the trigger of gain switching must
be set to determine the lag. The unit varies with the switching mode and associated settings.
Note: If the level is set to be less than the lag, the setting is changed to the level being equal to the
lag during the actual use.
Data size
P2.25
Modbus address
P2.26
switching time
In position control, if the difference between P2.00 and P2.04 is great, you can set this parameter
to control the torque change and vibration caused by the switching from the small gain to the large
gain at the current position. This parameter is invalid when the position gain is switched from a
large value to a small one, and the switching takes effect immediately.
Data size
P2.26
Modbus address
Setting range
Setting range
1448, 1449
Setting range
1450, 1451
Setting range
Position gain
1452, 1453
Default
0–10000
16bit
1446, 1447 CANopen address
Default
0–20000
16bit
CANopen address
Default
0–20000
16bit
CANopen address
Default
0–10000 0
16bit
CANopen address
-115-
Unit
0 ms
Data format
Unit
Mode
0
based
Data format
Unit
Mode
0
based
Data format
Unit
ms
Data format
Function codes
Applicable
mode
P
DEC
0x2217, 0x00
Applicable
mode
P
DEC
0x2218, 0x00
Applicable
mode
P
DEC
0x2219, 0x00
Applicable
mode
P
DEC
0x221A, 0x00