INVT SV-DA200 Series - Gain Switching; Position Control Switching Mode

SV-DA200 series AC servo drive Function codes
-122-
6.3.2 Gain switching
P2.20
2
nd
gain setting
Setting range
Default
Unit
Available mode
0–1
1
-
P
S
T
This parameter is used to set the right adjustment.
Setting value
Mode
0
1
st
gain is fixed.
Gain switching invalid→PI action
Gain switching valid→P action
Note: 0x006 is the digital input low level valid and the high level valid is
0x106.
[1]
Valid between 1
st
gain [P2.00–P2.04] and 2
nd
gain [P2.05–P2.09].
P2.20
Data size
16bit
Data format
DEC
Modbus address
1440, 1441
CANopen address
0x2214, 0x00
P2.22
Position control switching
mode
Setting range
Default
Unit
Available mode
0–9
0
-
P
This parameter is used to set the triggering condition of gain switching during position control or
fully-closed-loop control.
Setting
value
Switching
condition
Gain condition
[0]
1
st
gain fixed
Be fixed in 1
st
gain [P2.00–P2.04]
1
2
nd
gain fixed
Be fixed in 2
nd
gain [P2.05–P2.09]
2
Switching
input with gain
Invalid: 1
st
gain
Valid: 2
nd
gain
3
Large torque
command
In the previous 1
st
gain, if the absolute value of torque command exceed
(level+delay) [0.1%], it will switch to 2
nd
gain.
In the previous 2
nd
gain, if the absolute value of torque command keeps
below (level-delay) [0.1%] in the delay time, it will return to 1
st
gain.
4
Large speed
command
In the previous 1
st
gain, if the absolute value of the speed command
exceed (level+delay) [r/min], it will switch to 2
nd
gain.
In the previous 2
nd
gain, if the absolute value of the speed command
keeps below (level-delay) [r/min] and such state in the delay time, it
will return to 1
st
gain.
5
Large position
deviation
In the previous 1
st
gain, if the absolute value of the position deviation
exceed (level+delay) [pulse], it will switch to 2
nd
gain.
In the previous 2
nd
gain, if the absolute value of the position deviation
keeps below (level-delay) [pulse] and such state in the delay time, it
will return to 1
st
gain.
Note: The unit of level and lag [pulse] acts as encoder resolution unit
during position control and as linear encoder resolution unit during