INVT DA180-S2R8SG0

DA180 series basic AC servo drive Function codes
-114-
When the second gain is used, if the absolute value in the
speed command does not reach (level − lag) [r/min] and this
state keeps in the delay time, the second gain is switched to the
first gain.
5
Position
deviation too
large
When the first gain is used, if the absolute value of the position
deviation exceeds (level + lag) [pulse], the first gain is switched to
the second gain.
When the second gain is used, if the absolute value of the
position deviation does not reach (level − lag) [pulse] and this
state keeps in the delay time, the second gain is switched to the
first gain.
Note: The unit of level and lag is the encoder resolution unit in
position control and is the grating ruler resolution unit in
fully-closed loop control.
6
With position
command input
When the first gain is used, if the position command is not 0, the
first gain is switched to the second gain.
When the second gain is used, if the position command is 0 and
this state keeps in the delay time, the second gain is switched to
the first gain.
7
Positioning
incomplete
When the first gain is used, if positioning is not complete, the first
gain is switched to the second gain.
When the second gain is used, if positioning is complete and
this state keeps in the delay time, the second gain is switched to
the first gain.
8
Actual speed
too high
When the first gain is used, if the absolute value of the actual
speed exceeds (level + lag) [r/min], the first gain is switched to
the second gain.
When the second gain is used, if the absolute value of the
actual speed does not reach (level − lag) [r/min] and this state
keeps in the delay time, the second gain is switched to the first
gain.
9
Position
command +
actual speed
When the first gain is used, if the position command is not 0, the
first gain is switched to the second gain.
When the second gain is used, if the position command is 0,
this state keeps in the delay time, and the absolute value of the
actual speed does not reach (level − lag) [r/min], the second gain
is switched to the first gain.
P2.22
Data size
16bit
Data format
DEC
Modbus address
1444, 1445
CANopen address
0x2216, 0x00