AS64 series AC servo drive Function codes
-122-
P2.32
Switching delay in
torque control
Setting range
Default
Unit
Applicable
mode
0–10000
0
ms
T
In torque control, if P2.31 is set to 3, the first gain is switched back from the second gain. This
parameter specifies the time from the triggering to the actual switching.
P2.32
Data size
16bit
Data format
DEC
Modbus address
1464, 1465
CANopen address
0x2220, 0x00
P2.33
Switching level in
torque control
Setting range
Default
Unit
Applicable
mode
0–20000
0
Mode based
T
In torque control, if P2.31 is set to 3, the trigger of gain switching must be set. The unit varies with
the switching mode and associated settings.
Note:
The level must be equal to the lag at least.
P2.33
Data size
16bit
Data format
DEC
Modbus address
1466, 1467
CANopen address
0x2221, 0x00
P2.34
Switching lag in
torque control
Setting range
Default
Unit
Applicable
mode
0–20000
0
Mode based
T
In torque control, if P2.31 is set to 3, the trigger of gain switching must be set to determine the lag.
The unit varies with the switching mode and associated settings.
Note:
If the level is set to be less than the lag, the setting is changed to the level being equal to
the lag during the actual use.
P2.34
Data size
16bit
Data format
DEC
Modbus address
1468, 1469
CANopen address
0x2222, 0x00
6.3.3 Special motor control
P2.41
2
Disturbance observer
Setting
range
Default
Unit
Applicable
mode
0
–2
0
-
P
S
T
This parameter specifies whether the disturbance observer is valid.
Setting
Meaning
[
0
]
Invalid
1
Disturbance observation
2
Disturbance compensation
P2.41
2
Data size
16bit
Data format
DEC
Modbus address
1482, 1483
CANopen address
0x2229, 0x00
