INVT DA180-S2R8SG0 Operation Manual page 247

DA180 series basic AC servo drive
Motor speed or position
command
Level
1st
Command
speed
1st
With command pulse
停止时
Stopping
第1增益
1st gain
Note: The preceding figures do not illustrate the gain-switching timing sequence offset caused by lag
parameters P2.25, P2.30, and P2.34.
Figure 3
Delay
1st
2nd gain
Figure 5
Delay
2nd gain
1st
Without command pulse
xP2.23 delay time
Acting
2nd gain
|Actual speed | < （P2.24 level– P2.25 lag）
|Actual speed | < （P2.24 level – P2.25 lag）
Motor speed
Residual pulse
Level
1st
Speed
COIN
1st
|Actual speed | < P2.24 level
Stable
2nd gain
-241-
Commissioning
Figure 4
Delay
2nd gain 1st
Figure 6
Delay
2nd gain 1st
Figure 7
Close to stopping
Speed integral: 2nd gain
Other: 1st gain
图7