INVT DA180-S2R8SG0 Operation Manual page 125

DA180 series basic AC servo drive
P2.42
compensation gain
This parameter specifies the compensation gain for disturbance torque. Increasing the gain may
improve the effect of suppressing disturbance impact but the noise may increase. This parameter
needs to be used with P2.43 to find the best setting point. After setting P2.43, increase the setting
of P2.42.
Data size
P2.42
Modbus address
Disturbance observer
P2.43
cut-off frequency
This parameter specifies the cut-off frequency of the disturbance observer. Decreasing the setting
of this parameter may decrease noise, while increasing the setting may decrease the disturbance
torque compensation delay. This parameter needs to be used with P2.42.
Data size
P2.43
Modbus address
P2.44 Torque command offset
This parameter specifies the changeable load compensation which is added to the torque
command. It is usually be used in the vertical shaft application scenario, which excludes the torque
control mode.
Data size
P2.44
Modbus address
Fully-closed loop vibration
2
P2.50
This parameter specifies whether the speed observer is valid.
Setting
[0]
1
2
Data size
2
P2.50
Modbus address
Disturbance
Setting range
observer
1484, 1485
1486, 1487
1488, 1489
suppressor
Invalid
Disturbance observation
Disturbance compensation
1500, 1501
Default
0–100 0
16bit Data format
CANopen address
Setting
Default
range
0–3000 200
16bit Data format
CANopen address
Setting range Default
-500.0–500.0
16bit Data format
CANopen address
Setting range Default
0–2
Meaning
16bit Data format
CANopen address
-119-
Function codes
Applicable
Unit
% P
0x222A, 0x00
Applicable
Unit
Hz P
0x222B, 0x00
Applicable
Unit
0.0 % P
0x222C, 0x00
Applicable
Unit
0 -
0x2232, 0x00
mode
S
DEC
mode
S
DEC
mode
S T
DEC
mode
DEC