INVT DA180-S2R8SG0 Operation Manual page 123

DA180 series basic AC servo drive
Switching level in
P2.29
speed control
In speed control, if P2.27 is in the range of 3–5, 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
P2.29
Modbus address
Switching lag in
P2.30
speed control
In speed control, if P2.27 is in the range of 3–5, 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
P2.30
Modbus address
Switching trigger in
P2.31
torque control
This parameter specifies the trigger of gain switching in torque control.
Setting Trigger
[0] Fixed to gain 1
1 Fixed to gain 2
With gain
2
switching input
Torque
3
command
Note: This parameter is invalid for position gain, and in this case, the actual position gain is the
first gain always.
Data size
P2.31
Modbus address
Setting range
0–20000
16bit
1458, 1459
Setting range
0–20000
16bit
1460, 1461
Setting range
0–3
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.
16bit
1462, 1463
-117-
Default Unit
0
Mode based
Data format
CANopen address
Default Unit
0
Mode based
Data format
CANopen address
Default Unit
0 -
Description
Data format
CANopen address
Function codes
Applicable
mode
S
DEC
0x221D, 0x00
Applicable
mode
S
DEC
0x221E, 0x00
Applicable
mode
T
DEC
0x221F, 0x00