INVT Goodrive GD35-011G-4-H1 - Page 134

Goodrive35 Series Closed-loop Vector Control VFD Function parameters
127
Functio
n code
Name
Detailed instruction of parameters
Default
value
Modif
y
P21.02
APR gain 1
Two automatic position regulator (APR) gains are
provided. You can switch between these two gains
through the switching mode set in P21.04. When the
spindle orientation function is used, the gains are
switched automatically, regardless of the setting of
P21.04. P21.03 is used for dynamic running, and
P21.02 is used for maintaining the locked state.
Setting range: 0.0–400.0
20.0
○
P21.03
APR gain 2
30.0
○
P21.04
APR gain switching
mode
This parameter is used to set the APR gain switching
mode. To use torque command-based switching, you
need to set P21.05; and to use speed
command-based switching, you need to set P21.06.
1: Torque command
2: Speed command
3–5: Reserved
0
○
P21.05
Position gain
torque shifting
Setting range: 0.0–100.0% (rated torque of the
motor)
10.0%
○
P21.06
Position gain
speed shifting
Setting range: 0.0–100.0% (rated torque of the
motor)
10.0%
○
P21.07
Smooth filter
coefficient of gain
shifting
Smooth filter coefficient of position gain shifting.
Range: 0–15
5
○
P21.08
Output of the
position controller
Output limit of the position controller. If the limit value
is 0, the controller is invalid for position control, but
valid for speed control.
Range: 0.0–100.0% (P00.03)
20.0%
○
P21.09
Positioning finished
range
The positing finished signal of output position when
the position deviation is below P21.09 and the
lasting time is above P21.10.
Range: 0–1000
10
○
P21.10
Detection time of the
positioning
Range: 0.0–1000.0 ms
10.0 ms
○
P21.11
Numerator of the
position command
ratio
Used to change the corresponding relationship of
adjusting position commands and actual operation
displacement.
Range: 1–65535
1000
○
P21.12
Denominator of the
Range: 1–65535
1000
○