Astraada SRV-64 - Page 157

AS64 series AC servo drive Function codes
-151-
This parameter specifies whether to enable control mode switching of the drive when the hybrid
control mode is used. The switching control is valid in the enabling state.
Setting
Meaning
Actual control mode
[0]
Disable
Position/speed
Position
Position/torque
Position
Speed/torque
Speed
1
Enable
Position/speed
Speed
Position/torque
Torque
Speed/torque
Torque
Note: If the control mode switching command is updated, the actual switching process of the
drive and motor is handled based on the settings of P0.90–P.92 and actual feedback state.
P4.15*
Data size
16bit
Data format
DEC
Modbus address
1830, 1831
CANopen address
0x240F, 0x00
P4.16*
Gain switching
command
Setting range
Default
Unit
Applicable
mode
0–1
0
-
P
S
T
This parameter specifies whether to enable gain switching for the drive. When P2.22, P2.27, and
P2.31 are set to 2, the actual gain settings are used for switching.
Setting
Meaning
Actual gain
[0]
Disable
Set by the first gain
1
Enable
Set by the second gain
P4.16*
Data size
16bit
Data format
DEC
Modbus address
1832, 1833
CANopen address
0x2410, 0x00
P4.17*
Electronic gear ratio
switching command
Setting range
Default
Unit
Applicable
mode
0–3
0
-
P
This parameter is used to switch electronic gear ratios for the drive when P4.10 is set to 1.
Setting
Numerator of actual electronic gear ratio
Denominator of actual
electronic gear ratio
[0]
Numerator of electronic gear ratio 1 (P0.25)
Denominator of
electronic gear ratio
(P0.26)
1
Numerator of electronic gear ratio 2 (P0.27)
2
Numerator of electronic gear ratio 3 (P0.28)
3
Numerator of electronic gear ratio 4 (P0.29)
P4.17*
Data size
16bit
Data format
DEC
Modbus address
1834, 1835
CANopen address
0x2411, 0x00
P4.18*
Inertia ratio switching
command
Setting range
Default
Unit
Applicable
mode
0–1
0
-
P
S
T