INVT DA180-S2R8SG0 Operation Manual page 128

DA180 series basic AC servo drive
P2.61 Speed observer gain
This parameter specifies the speed observer gain. Increasing this parameter improves the
response to the actual speed, but it may increase the possibility to cause vibration and noise.
Data size
P2.61
Modbus address
Friction compensation
P2.70
This parameter specifies the cut-off speed of friction compensation.
Data size
P2.70
Modbus address
P2.71 coefficient of friction
compensation
This parameter specifies the friction compensation value added to the torque command when a
CCW position command or speed command is received.
Data size
P2.71
Modbus address
P2.72 coefficient of friction
compensation
This parameter specifies the friction compensation value added to the torque command when a
CW position command or speed command is received.
Data size
P2.72
Modbus address
P2.73
compensation
This parameter specifies whether friction compensation is valid.
Setting
[0]
1
Data size
P2.73
Modbus address
1522, 1523
cut-off speed
1540, 1541
CCW torque
Setting range
1542, 1543
CW torque
Setting range
1544, 1545
Setting range
Friction
Invalid
Valid
1546, 1547
Setting
Default
range
1–1000 100
16bit
CANopen address
Setting
Default
range
0–1000 20
16bit
CANopen address
Default
0.0–100.0 0.0
16bit
CANopen address
Default
-100.0–0.0 0.0
16bit
CANopen address
Default
0–1 0
Meaning
16bit
CANopen address
-122-
Unit
Hz
Data format
Unit
r/min
Data format
Unit
%/(10r/min)
Data format
Unit
%/(10r/min)
Data format
Unit
-
Data format
Function codes
Applicable
mode
P S T
DEC
0x223D, 0x00
Applicable
mode
P S
DEC
0x2246, 0x00
Applicable
mode
P S
DEC
0x2247, 0x00
Applicable
mode
P S
DEC
0x2248, 0x00
Applicable
mode
P S
DEC
0x2249, 0x00