Special Motor Control - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive
Switching delay in
P2.32
torque control
In torque control, if P2.31 is set to 3, the first gain is switched back from the second gain. This
parameter specifies the time from the triggering to the actual switching.
Data size
P2.32
Modbus address
Switching level in
P2.33
torque control
In torque control, if P2.31 is set to 3, 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
P2.33
Modbus address
Switching lag in
P2.34
torque control
In torque control, if P2.31 is set to 3, 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
P2.34
Modbus address

6.3.3 Special motor control

2
P2.41 Disturbance observer
This parameter specifies whether the disturbance observer is valid.
Setting
[0]
1
2
Data size
2
P2.41
Modbus address
Setting range
0–10000
16bit
1464, 1465
Setting range
0–20000
16bit
1466, 1467
Setting range
0–20000
16bit
1468, 1469
Setting
range
Invalid
Disturbance observation
Disturbance compensation
16bit
1482, 1483
Default
0
Data format
CANopen address
Default
0
Data format
CANopen address
Default
0
Data format
CANopen address
Default
0–2 0
Meaning
Data format
CANopen address
-118-
Function codes
Applicable
Unit
mode
ms
DEC
0x2220, 0x00
Applicable
Unit
mode
Mode based
DEC
0x2221, 0x00
Applicable
Unit
mode
Mode based
DEC
0x2222, 0x00
Applicable
Unit
mode
- P
DEC
0x2229, 0x00
T
T
T
S T