INVT DA180-S2R8SG0 Operation Manual page 150

DA180 series basic AC servo drive
P4.12*
This parameter specifies the position command for the drive when P4.10 is set to 1.
Data size
P4.12*
Modbus address
P4.13*
This parameter specifies the speed command for the drive when P4.10 is set to 1.
Data size
P4.13*
Modbus address
P4.14*
This parameter specifies the torque command for the drive when P4.10 is set to 1.
Data size
P4.14*
Modbus address
Control mode
P4.15*
This parameter specifies whether to enable control mode switching of the drive when the hybrid
control mode is used.
Setting
[0]
1
Note: If the control mode switching command is updated, the actual switching process of the drive
and motor is handled based on the settings of P0.90–P.92 and actual feedback state.
Data size
P4.15*
Modbus address
Setting range
Bus position
command
-(2
Setting range
Bus speed
command
-20000–20000
Setting range
Bus torque
command
-500.0–500.0
Setting range
switching
command
Meaning
Disable
Enable
1830, 1831
Defaul
t
31 31
-1)–(2 -1) 0
32bit
1824, 1825 CANopen address
Default
16bit
1826, 1827 CANopen address
Default
16bit
1828, 1829 CANopen address
Default
0–1
Actual control mode
Position/speed
Position/torque
Speed/torque
Position/speed
Position/torque
Speed/torque
16bit
CANopen address
-144-
Unit
reference unit
Data format
Unit
0 r/min
Data format
Unit
0.0 %
Data format
Unit
0 -
Position
Position
Speed
Speed
Torque
Torque
Data format
Function codes
Applicable
mode
P
DEC
0x240C, 0x00
Applicable
mode
S
DEC
0x240D, 0x00
Applicable
mode
T
DEC
0x240E, 0x00
Applicable
mode
P S T
DEC
0x240F, 0x00