INVT SV-DA200 Series - Position Control and Fully-Closed Loop Control; Speed Control Mode; Torque Control Mode

SV-DA200 series AC servo drive Commissioning
-233-
●Position control and fully-closed loop control (●: valid, —: invalid)
Condition setting of gain switching
Parameters setting of position control and
fully-closed loop control mode
P2.22
Switch to 2
nd
gain
Figure
Delay time*
1
Level
Lag*
2
P2.23
P2.24
P2.25
0
Fixed at 1
st
gain
-
-
-
1
Fixed at 2
nd
gain
-
-
-
2
With gain switch input
-
-
-
3
Torque command is large
1
●
●(0.1%)
●(0.1%)
4
Speed command is large
3
●
●(r/min)
●(r/min)
5
Position deviation is large
4
●
●
*3
(reference
unit)
●
*3
(reference
unit)
6
With position command
5
●
-
-
7
Positioning unfinished
6
●
-
-
8
Actual speed is large
3
●
●(r/min)
●(r/min)
9
With position command
+actual speed
7
●
●(r/min)
*5
●(r/min)
*5
●Speed control mode
Condition setting of gain switching
Parameters setting of speed control mode
P2.27
Switch to 2
nd
gain
Figure
Delay time*
1
Level
Lag*
2
P2.28
P2.29
P2.30
0
Fixed at 1
st
gain
-
-
-
1
Fixed at 2
nd
gain
-
-
-
2
With gain switching input
-
-
-
3
Torque command
1
●
●(0.1%)
●(0.1%)
4
Speed command variation
quantity
2
-
●
*4
(10(r/min)/s)
●
*4
(10(r/min)/s)
5
Speed command
3
●
●(r/min)
●(r/min)
●Torque control mode
Condition setting of gain switching
Parameters setting of torque control mode
P2.31
Switch to 2
nd
gain
Figure
Delay time*
1
Level
Lag*
2
P2.32
P2.33
P2.34
0
Fixed at 1
st
gain
-
-
-
1
Fixed at 2
nd
gain
-
-
-
2
With gain switching input
-
-
-
3
Torque command
1
●
● (0.1%)
● (0.1%)
*
1
Delay time (P2.23, P2.28, P2.32) is only valid when 2
nd
gain to 1
st
gain
*
2
The definition of lag (P2.25, P2.30, P2.34) is shown as the figure below.
*
3
The encoder and external linear encoder can be designated in the control mode.