SV-DA200 series AC servo drives Faults and solutions
‐112‐
6.3.2 Gain switching
P2.20 2
nd
gain setting
Setting range Default Unit Available mode
0~1 1 - P S T F
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 F
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
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