5.4 Details of Function Codes
5-234
Servo lock (gain) (J97) (Gain 2) (d28)
It sets the position controller gain of the servo lock. Adjusting the stop behavior shaft retaining power in the
servo lock is possible. By the servo lock selection
SLG2, switching in two steps is possible. When the load
inertia changes and controlling with one type of servo lock gain is difficult, use this function by switching.
Table 5.4-160
J97
Small
Large
Stop behavior Response slow, but smooth····································Response quick, but hunting large
Shaft holding torque Holding Small····································Holding Large
Select Servo Lock Gain SLG2 (Function code: E01 to E09 data = 110)
When OFF, the servo lock gain (J97) is selected, and when ON, the servo lock gain 2 (d28) is selected.
Switching during the servo lock is possible.
Servo lock gain switching time (d27)
When the servo lock gain is switched by the servo lock gain selection
SLG2 signal during servo locking,
vibration may occur due to the step change. In that case, change the servo lock gain by the servo lock gain
switching time (d27) lamp function in order to prevent vibration.
Monitor for servo-lock control
Table 5.4-161
Monitor Item LED Monitor Indication Function Code Remarks
Current position
Operation monitor:
3_26
The upper and lower digits
appear alternately.
Current position pulse
Upper digit: Z90
Lower digit: Z91
Positioning error
Operation monitor:
3_28
The upper and lower digits
appear alternately.
Position deviation pulse
Upper level digit: Z94
Lower digit: Z95
Indicated only when the position
controller is working (when the
position control is valid).
When it is not in operation, the
monitor is zero-cleared.
The values on the LED monitor appear based on PG pulses 4-multiplied.
Under servo-lock, no current positioning pulses or positioning error pulses are displayed on the LED monitor.
Notes for using servo-lock
(1) Positioning control error
ero
If a positioning error exceeds the value equivalent to four rotations of the motor shaft when the inverter
is servo-locked, the inverter issues a positioning control error signal.
(2) Stop frequency (F25) under servo-lock
Since servo-lock starts when the output frequency is below the stop frequency (F25), it is necessary to
specify such F25 data that does not trigger
ero
(that is, specify the value equivalent to less than 4
rotations of the motor shaft).
Stop frequency (F25) < (4 Gain (J97) Maximum frequency)
(Example) When Gain J97 = 0.01 and Maximum frequency (F03) = 60 Hz, Set at F25 data < 2.4 Hz.
(3) Enabling servo-lock control disables the following:
- Operation controlled with a stop frequency
- Rotation direction limitation
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