Astraada SRV-64 - Control Mode Switching

AS64 series AC servo drive Function codes
-104-
Modbus address
1140, 1141
CANopen address
0x2046, 0x00
P0.71*
Clear absolute encoder
multiturn
Setting
range
Default
Unit
Applicable
mode
0–1
0
-
P
S
T
This parameter specifies whether to clear the multiturn data for the multiturn absolute encoder. If
this function is enabled, the multiturn data is cleared while the single-turn data remains
unchanged, but the absolute position in the feedback is cleared.
Note: If you use a multiturn absolute encoder, after machinery installation, you can clear the absolute
encoder after detecting the absolute zero position of the mechanic system at first power-on.
P0.71*
Data size
16bit
Data format
DEC
Modbus address
1142, 1143
CANopen address
0x2047, 0x00
6.1.4 Control mode switching
P0.90
Max. speed limit of
control mode switching
Setting
range
Default
Unit
Applicable
mode
1–1000
100
r/min
P
S
T
This parameter specifies the maximum running speed during positioning for switching from the
speed or torque mode to the position mode when the hybrid of position and speed or the hybrid
of position and torque is used.
P0.90
Data size
16bit
Data format
DEC
Modbus address
1180, 1181
CANopen address
0x205A, 0x00
P0.91
Positioning reference
of control mode
switching
Setting
range
Default
Unit
Applicable
mode
-1–(2
31
-1)
-1
pulse
P
S
T
This parameter specifies the motor position R0.14 [Rotor position relative to pulse Z] after the
control mode is switched. The switching is made from the speed or torque mode to the position
mode when the hybrid of position and speed or the hybrid of position and torque is used.
Note:
⚫ After the control mode switching, the reference point in the received position command is the
setting of this parameter. The unit of this parameter is the encoder pulse unit.
⚫ If this parameter is set to -1 and the control mode needs to switch from speed mode to position
mode, switching is executed at the current position, without positioning to the reference point.
⚫ If the mechanical angle corresponding to the setting of P3.50 is no more than 0.5°, the
positioning is accurate to ±P3.50. If the angle is greater than 0.5°, the positioning is accurate
to the pulse number corresponding to ±0.5°.
P0.91
Data size
32bit
Data format
DEC
Modbus address
1182, 1183
CANopen address
0x205B, 0x00