AS64 series AC servo drive Function codes
-117-
P2.15
Data size
16bit
Data format
DEC
Modbus address
1430, 1431
CANopen address
0x220F, 0x00
6.3.2 Gain switching
P2.20
Setting of gain 2
Setting range
Default
Unit
Applicable
mode
0–1
1
-
P
S
T
This parameter specifies the adjustment for gain switching.
Setting
Meaning
0
The first gain is fixed. The speed loop action is switched to the PI or
P action based on the gain switching input (that is, the digital input
is configured as function gain switching, corresponding to 0x006) or
P4.16 [Gain switching command].
Gain switching invalid → PI action
Gain switching valid → P action
Note:
0x006 is valid when the digital inputs a low electrical level,
while 0x106 is valid when the digital inputs a high electrical level.
[
1
]
Switching between the first gain [P2.00–P2.04] and second gain
[P2.05–P2.09] is valid.
P2.20
Data size
16bit
Data format
DEC
Modbus address
1440, 1441
CANopen address
0x2214, 0x00
P2.22
Switching trigger in
position control
Setting range
Default
Unit
Applicable
mode
0–9
0
-
P
This parameter specifies the trigger of gain switching in position control or fully-closed loop 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–P2.09.
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 too
large
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 first gain is used.
4
Speed
command too
large
When the first gain is used, if the absolute value in the speed
command exceeds (level + lag) [r/min], the first gain is switched to
the second gain.
