INVT DA180-S2R8SG0 Operation Manual page 122

DA180 series basic AC servo drive
Switching trigger in
P2.27
speed control
This parameter specifies the trigger of gain switching in speed control.
Setting Trigger
[0] Fixed to gain 1
1 Fixed to gain 2
With gain
2
switching input
Torque
3
command
Speed
4 command
variable
Speed
5
command
Note: This parameter is invalid for position gain, meaning the actual position gain is always the
first gain.
Data size
P2.27
Modbus address
Switching delay in
P2.28
speed control
In speed control, if P2.27 is in the range of 3–5, the first gain is switched back from the second
gain. This parameter specifies the time from the triggering to the actual switching.
Data size
P2.28
Modbus address
Setting range
0–5
Gain parameters are fixed to the first gain parameters P2.00–
P2.04.
Gain parameters are fixed to the second gain parameters
P2.05, P2.06, P2.08, and 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 torque
command does not reach (level − lag) [0.1%] 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 in the speed
command exceeds (level + lag) [10 r/min/s], the first gain is
switched to the second gain.
When the second gain is used, if the absolute value in the speed
command does not reach (level − lag) [10 r/min/s] 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 in the speed
command exceeds (level + lag) [r/min], the first gain is switched to
the second gain.
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.
16bit
1454, 1455
Setting range
0–10000
16bit
1456, 1457
-116-
Default Unit
0 -
Description
Data format
CANopen address
Default Unit
0 ms
Data format
CANopen address
Function codes
Applicable
mode
S
DEC
0x221B, 0x00
Applicable
mode
S
DEC
0x221C, 0x00