INVT DA180-S5R0SG0

DA180 series basic AC servo drive Function codes
-117-
P2.29
Switching level in
speed control
Setting range
Default
Unit
Applicable
mode
0–20000
0
Mode based
S
In speed control, if P2.27 is in the range of 3–5, the trigger of gain switching must be set. The unit
varies with the switching mode and associated settings.
Note: The level must be equal to the lag at least.
P2.29
Data size
16bit
Data format
DEC
Modbus address
1458, 1459
CANopen address
0x221D, 0x00
P2.30
Switching lag in
speed control
Setting range
Default
Unit
Applicable
mode
0–20000
0
Mode based
S
In speed control, if P2.27 is in the range of 3–5, the trigger of gain switching must be set to
determine the lag. The unit varies with the switching mode and associated settings.
Note: If the level is set to be less than the lag, the setting is changed to the level being equal to the
lag during the actual use.
P2.30
Data size
16bit
Data format
DEC
Modbus address
1460, 1461
CANopen address
0x221E, 0x00
P2.31
Switching trigger in
torque control
Setting range
Default
Unit
Applicable
mode
0–3
0
-
T
This parameter specifies the trigger of gain switching in torque control.
Setting
Trigger
Description
[0]
Fixed to gain 1
Gain parameters are fixed to the first gain parameters P2.00–
P2.04.
1
Fixed to gain 2
Gain parameters are fixed to the second gain parameters
P2.05, P2.06, P2.08, and P2.09.
2
With gain
switching input
The first gain is used if the gain switching input is invalid.
The second gain is used if the gain switching input is valid.
3
Torque
command
When the first gain is used, if the absolute value in the torque
command exceeds (level + lag) [0.1%], the first gain is switched to
the second gain.
When the second gain is used, if the absolute value in the torque
command does not reach (level − lag) [0.1%] and this state keeps
in the delay time, the second gain is switched to the first gain.
Note: This parameter is invalid for position gain, and in this case, the actual position gain is the
first gain always.
P2.31
Data size
16bit
Data format
DEC
Modbus address
1462, 1463
CANopen address
0x221F, 0x00