INVT DA180-S2R8SG0

DA180 series basic AC servo drive Function codes
-101-
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
P0.92
Position mode exiting
method
Setting
range
Default
Unit
Applicable
mode
0–1
0
-
P
S
T
This parameter specifies the method for exiting the position mode when P0.03 [Control mode] is 3
[Position/speed mode] or 4 [Position/torque mode].
Setting
Meaning
[0]
The position mode is switched to another mode after
positioning is complete.
1
The position mode is immediately switched to another mode
when the control mode switching command is invalid.
P0.92
Data size
32bit
Data format
DEC
Modbus address
1184, 1185
CANopen address
0x205C, 0x00