SRV-63 series AC servo drives Commissoning
-215-
6
With position command
5
●
-
-
7
Position not finished
6
●
-
-
8
Actual speed
3
●
●(r/min)
●(r/min)
9
With position command
+speed command
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 on 1
st
gain
-
-
-
1
Fixed on 2
nd
gain
-
-
-
2
Gain switch input
-
-
-
3
Torque command
1
●
●
(0.1%)
●
(0.1%)
4
Speed command variable
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 on 1
st
gain
-
-
-
1
Fixed on 2
nd
gain
-
-
-
2
Gain switch 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.
*
4
If 10r/min speed changing in 1s, the setting value is 1.
*
5
If P2.22=9, the delay time, level and lag have different meaning (see figure 7).
Lag
Level
(P2.24, P2.29, P2.33)
0
L
H
(P2.25, P2.30, P2.34)
