INVT DA180-S2R8SG0 Operation Manual page 159

DA180 series basic AC servo drive
Hybrid control
1
P4.64
deviation limit
In fully-closed loop control, there is a tolerance between the reference unit corresponding to the
encoder feedback position and user reference unit corresponding to the
position. The tolerance is called hybrid-control deviation, specified by R0.05. If R0.05 exceeds the
setting of this parameter, the drive reports fault Er22-1.
Data size
1
P4.64
Modbus address
Threshold for
1
P4.65 hybrid-control
deviation clearing
This parameter specifies the condition for clearing the hybrid-control deviation. When the motor
rotation number reaches the specified one, the hybrid-control deviation is cleared. The value 0
indicates the hybrid-control deviation is not cleared.
Data size
1
P4.65
Modbus address
Signal source of
1
P4.67 pulse feedback
This parameter specifies the signal source of pulse feedback output when the fully-closed loop
function is enabled in position mode.
Setting
[0]
1
Data size
1
P4.67
Modbus address
External
1
P4.68 (or encoder 2)
This parameter specifies the resolution of the external
second encoder is connected, the output is the pulses needed for each encoder rotation.
Data size
1
P4.68
Modbus address
Setting range
1928, 1929
Setting range
1930, 1931
Setting range
output
Encoder
Grating ruler
1934, 1935
grating ruler
Setting range
resolution
1936, 1937
Default
27
1–2 160000 reference unit
32bit Data format
CANopen address
Default
0–100 0
16bit Data format
CANopen address
Default
0–1 0
Meaning
16bit Data format
CANopen address
Default
31
1–(2 -1) 10000
grating ruler
32bit Data format
CANopen address
-153-
Function codes
Applicable
Unit
mode
P
grating ruler
0x2440, 0x00
Applicable
Unit
mode
rotations P
0x2441, 0x00
Applicable
Unit
mode
- P
0x2443, 0x00
Applicable
Unit
mode
pulse P
(or second encoder). If the
0x2444, 0x00
feedback
DEC
DEC
DEC
DEC