INVT Goodrive35 Series Operation Manual page 134

Goodrive35 Series Closed-loop Vector Control VFD
Functio
Name
n code
P21.02 APR gain 1
P21.03 APR gain 2
APR gain switching
P21.04
mode
Position gain
P21.05
torque shifting
Position gain
P21.06
speed shifting
Smooth filter
P21.07 coefficient of gain
shifting
Output of the
P21.08
position controller
Positioning finished
P21.09
range
Detection time of the
P21.10
positioning
Numerator of the
P21.11 position command
ratio
P21.12 Denominator of the Range: 1–65535
Detailed instruction of parameters
Two automatic position regulator (APR) gains are
provided. You can switch between these two gains
through the switching mode set in P21.04. When the
spindle orientation function is used, the gains are
switched automatically, regardless of the setting of
P21.04. P21.03 is used for dynamic running, and
P21.02 is used for maintaining the locked state.
Setting range: 0.0–400.0
This parameter is used to set the APR gain switching
mode. To use torque command-based switching, you
need to set P21.05;
command-based switching, you need to set P21.06.
1: Torque command
2: Speed command
3–5: Reserved
Setting range: 0.0–100.0% (rated torque of the
motor)
Setting range: 0.0–100.0% (rated torque of the
motor)
Smooth filter coefficient of position gain shifting.
Range: 0–15
Output limit of the position controller. If the limit value
is 0, the controller is invalid for position control, but
valid for speed control.
Range: 0.0–100.0% (P00.03)
The positing finished signal of output position when
the position deviation is below P21.09 and the
lasting time is above P21.10.
Range: 0–1000
Range: 0.0–1000.0 ms
Used to change the corresponding relationship of
adjusting position commands and actual operation
displacement.
Range: 1–65535
127
and to use speed
Function parameters
Default Modif
value y
20.0
○
30.0 ○
0
○
10.0%
○
10.0%
○
5
○
20.0%
○
10
○
10.0 ms
○
1000
○
1000
○