INVT DA180-S2R8SG0 Operation Manual page 246

DA180 series basic AC servo drive
Torque control
Trigger
P2.31 To switch to gain 2
0 Fixed to gain 1
1 Fixed to gain 2
2 With gain switching
3 Torque command input
Remarks:
1
* : The delay time parameters P2.23, P2.28, and P2.32 are valid only when the second gain is
switched back the first gain.
2
* : See the following figure to understand the lag parameters P2.25, P2.30, and P2.34.
3
* : The resolution of the encoder or external grating ruler is specified through the control mode.
4
* : The setting is 1 if a speed change of 10 r/min occurs within 1s.
5
* : When P2.22 is set to 9, the meanings of delay time, level, and lag are different to the common
ones.
Speed
Level
1st 2nd
Figure
input
1
Lag
Level
(P2.24, P2.29, P2.33)
0
Switching level
Switching level
1st gain 2nd 1st
Settings for torque control
1
Delay time*
P2.32
-
-
-
●
(P2.25, P2.30, P2.34)
Figure 1
Speed
command
ΔS
Level
1st
-240-
Commissioning
Level
P2.33
-
-
-
●(0.1%) ●(0.1%)
H
L
Delay
2nd 1st gain 2nd
2
Lag*
P2.34
-
-
-
Figure 2
Delay
1st