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Wiki source code of 06 Control Mode

Version 5.1 by Mora Zhou on 2023/11/21 13:47
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1 = **6.1 Basic Setting** =
2
3 == **6.1.1 Check Before Running** ==
4
5 (% class="table-bordered" %)
6 |=**NO.**|=**Activity**
7 |(% colspan="2" %)Wiring
8 |1|The servo drive’s control circuit power input terminals (L1C, L2C) and main circuit power input terminals(L1, L2, L3) are connected correctly.
9 |2|(((
10 The main circuit output terminals U, V, W of the servo drive are properly
11
12 connected to the power cables U, V, W of the servo motor in correct phase sequence
13 )))
14 |3|No short circuit exists in the main circuit power input terminals (L1, L2, L3) and output terminals (U, V, W) of the servo drive.
15 |4|(((
16 The signal wires of the servo drive are connected correctly. The external
17
18 signal wires such as brake and limit switch are connected reliably.
19 )))
20 |5|The servo drive and motor are grounded reliably.
21 |6|(((
22 The jumper between terminals C and D has been removed when the
23
24 external regenerative resistor is used.
25 )))
26 |7|The cable tension is within the permissible range.
27 |8|The wiring terminals have been insulated.
28 |(% colspan="2" %)Environment and mechanical conditions
29 |1|(((
30 No foreign objects, such as wire end or metal powder, which may cause
31
32 short circuit of the signal wire and power cables, exist inside and outside of the servo drive.
33 )))
34 |2|The servo drive or external regenerative resistor is not placed on flammable objects.
35 |3|Installation and shaft and mechanical connection are reliable.
36
37 == **6.1.2 Power Supply Connection** ==
38
39 **Connect the power supply of the control circuit (L1C, L2C) and main circuit:**
40
41 The main circuit power terminals are L1, L2, L3 for the 3-phase220 V and three-phase 380 V models.
42
43 * After connecting the power supply of the control circuit and main circuit, if the bus voltage indicator is in normal display and the keypad displays "rdy", it indicates that the servo drive is ready for running and waiting for the S-ON signal from the host controller.
44
45 * If the keypad displays the fault code, please refer to the “Fault and alarm table”
46
47 **Turn off the S-ON signal**
48
49 == **6.1.3 Jogging** ==
50
51 Jog operation could be realized in two ways, one is panel jog operation, and the jog operation could be realized through the buttons on the servo panel. the other is jog operation through the debug tool running on pc.
52
53 **Jogging via the Keypad**
54
55 Switch to [P10-1] on the keypad to enter the jogging mode, and the keypad displays the default jogging speed.
56
57 Press key UP/DOWN to set the jogging speed, after that press enter key.
58
59 The keypad displays "JOG" and blinks. Then, press enter key again to access the jog mode.
60
61 Long press the up/down key to achieve forward and reverse rotation, press key MODE to exit the jogging mode.
62
63 (% class="table-bordered" %)
64 |=**Code**|=**Parameter Name**|=**Property**|=(((
65 **Effective**
66
67 **Time**
68 )))|=**Range**|=**Function**|=**Unit**|=**Default**
69 |P10-1|JOG speed|During running|Immediate|0-3000|(((
70 Set the jogging
71
72 speed value
73 )))|rpm|100
74
75 **Jogging via debug tool**
76
77 Open We-con servo debugging tool, set the speed value of the jog in the "Set Speed" in the "Manual Operation" column, and then click the "Servo On" button on the interface. Click "Forward" or "Reverse" button to realize forward/reverse jogging. When the "servo off" button is clicked, the jog mode is exited.
78
79 == **6.1.4 Selection of Rotating Direction** ==
80
81 Set [P0-4] to change the motor rotating direction without changing the polarity of the input reference.
82
83 (% class="table-bordered" %)
84 |=**Code**|=**Parameter Name**|=**Property**|=(% style="width: 116px;" %)(((
85 **Effective**
86
87 **Time**
88 )))|=(% style="width: 69px;" %)**Range**|=**Function**|=**Unit**|=**Default**
89 |P0-4|(((
90 Rotating
91
92 direction
93
94 selection
95 )))|At stop|(% style="width:116px" %)(((
96 Power-on
97
98 again
99 )))|(% style="width:69px" %)0~~1|(((
100 Forward direction:viewed from the motor shaft.
101
102 0: CW direction as the forward direction
103
104 1: CCW direction as the
105
106 forward direction
107 )))|-|0
108
109 Limit switches (positive over travel POT and reverse over travel NOT), POT has the same direction set in [P0-4](Rotating direction selection).
110
111 == **6.1.5 Braking resistor** ==
112
113 When the servo motor is in the generator state when decelerating or stopping, the motor would transfer the energy back to the driver, which would increase the bus voltage. When the bus voltage exceeds the braking point, the driver could use the braking resistor to consume the energy. The braking resistor could be built-in or external, but it couldnot be used at the same time. When the external braking resistor is connected, the jumper on the servo drive needs to be removed.
114
115 The judge whether to use a built-in braking resistor or an external braking resistor
116
117 (1) The calculated maximum braking energy> the maximum braking energy that the capacitor could absorb, and the calculated braking power ≤ the power of the built-in braking resistor, then use the internal braking resistance.
118
119 (2) When the calculated value of the maximum braking energy> the maximum braking energy that the capacitor could absorb, and the calculated value of the braking power> the power of the built-in braking resistor, then we should use an external braking resistor.
120
121 **Relevant function code:**
122
123 (% class="table-bordered" %)
124 |=(% style="width: 81px;" %)**Code**|=(% style="width: 220px;" %)**Parameter Name**|=(% style="width: 81px;" %)**Property**|=(% style="width: 83px;" %)(((
125 **Effective**
126
127 **Time**
128 )))|=(% style="width: 83px;" %)**Range**|=(% style="width: 418px;" %)**Function**|=**Unit**|=**Default**
129 |(% style="width:81px" %)P0-9|(% style="width:220px" %)Braking resistance|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0~~3|(% style="width:418px" %)(((
130 0- Use built-in braking resistor.
131
132 1- Use external braking resistor and natural cooling.
133
134 2- Use external braking resistor and forced air cooling.
135
136 3- No braking resistors are used, all rely on capacitor absorption.
137 )))|-|0
138 |(% style="width:81px" %)P0-10|(% style="width:220px" %)External braking resistance|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0~~65535|(% style="width:418px" %)set the resistance value of the external braking resistor.|Ω|50
139 |(% style="width:81px" %)P0-11|(% style="width:220px" %)External braking resistor power|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0~~65535|(% style="width:418px" %)Used to set the power of external braking resistor.|W|100
140
141 **Braking resistor selection process**
142
143 (% style="text-align:center" %)
144 [[image:Braking resistor.png||class="img-thumbnail" height="1197" width="800"]]
145
146
147 **VD1 750W drive brake resistance calculation formula**
148
149 750W motor inertia : 1.82*10^^-4^^ kg m^^2^^
150
151 Total load inertia J,,L,, = load inertia ratio * 1.82*10^^-4^^
152
153 Single deceleration energy Eo = [[image:VD1 750W 驱动器制动电阻计算公式_html_ada0137b5673ff9c.gif]] J,,L,, ω^^2^^
154
155 ω= [[image:VD1 750W 驱动器制动电阻计算公式_html_7f5f30891215870b.gif||class="img-thumbnail"]] (N: motor speed rpm)
156
157 The energy that the VD1 capacitor can absorb is 22.7J (E,,C,,)
158
159 The required braking resistor power is [[image:VD1 750W 驱动器制动电阻计算公式_html_ebe3890e6cdd35c2.gif||class="img-thumbnail"]]
160
161 (T is the acceleration and deceleration cycle)
162
163 which is:[[image:VD1 750W 驱动器制动电阻计算公式_html_506c1de75a99e6fa.gif||class="img-thumbnail"]]
164
165 == **6.1.6 Servo Running** ==
166
167 1. Turn on the S-ON signal
168
169 When the servo drive is ready for running, the keypad displays "Run". but if there is no reference input, the servo motor is in locked state.
170
171 S-ON could be configured and selected through DI terminal function selection.
172
173 1. After a reference is input, the servo motor starts to rotate
174
175 Enter the appropriate command during operation, running the motor at low speed firstly, and observe whether the rotation is in accordance with the set rotation direction. Observe the actual motor speed, bus voltage and other parameters through the debug tool running on pc. It could be adjusted according to Chapter 7 to make the motor work in its expected condition.
176
177 1. Power-on time sequence
178
179 (% style="text-align:center" %)
180 [[image:5.Basic Setting_html_f889a9585b78ace9.jpg||class="img-thumbnail" height="371" width="700"]]
181
182 Figure 6-1 Power-on time sequence
183
184 == **6.1.7 Servo Stop** ==
185
186 Servo stop includes coast to stop and zero-speed stop based on the stop mode, and de energized state and position lock based on the stop state.
187
188 (% class="table-bordered" %)
189 |=**Stop mode**|=**Coast to stop**|=(((
190 **Stop at zero**
191
192 **speed**
193 )))
194 |Description|(((
195 The servo motor is de-energized and decelerates to stop gradually. The
196
197 deceleration time is affected by the friction inertia and mechanical.
198 )))|The servo drive outputs the reverse braking torque and the motor decelerates to 0 quickly.
199 |Characteristic|This mode features smooth deceleration and small mechanical impact, but the deceleration process is long.|This mode features quick deceleration but a larger impact.
200
201 * Stop at S-ON Signal Off
202
203 **Relevant function code:**
204
205 (% class="table-bordered" %)
206 |=**Code**|=**Parameter Name**|=**Property**|=(((
207 **Effective**
208
209 **Time**
210 )))|=(% style="width: 69px;" %)**Range**|=(% style="width: 294px;" %)**Function**|=(% style="width: 84px;" %)**Unit**|=(% style="width: 81px;" %)**Default**
211 |P0-5|(((
212 Stop mode
213
214 at S-ON
215
216 OFF
217 )))|At stop|Immediate|(% style="width:69px" %)0~~1|(% style="width:294px" %)(((
218 0: Coast to stop,
219
220 keeping de-energized state
221
222 1: Stop at zero speed,
223
224 keeping de-energized state
225 )))|(% style="width:84px" %)-|(% style="width:81px" %)0
226
227 * Emergency Stop
228
229 The default is the free stop mode, the motor shaft remains free, and the corresponding configuration and selection could be made by configuring the DI terminal function selection.
230
231 * Stop at Limit Switch Signal Active
232
233 Over travel means that the movable part of the machine exceeds the setting area. In some horizontal or vertical movements, the servo needs to limit the movement range of the work piece. Over travel generally uses limit switches, photoelectric switches or multiple turns of the encoder for detection, that is, hardware over travel or software over travel.
234
235 Once the servo drive detects the action of the limit switch signal, it would immediately force the speed in the current running direction to 0 to prevent the forward movement, which would not affect the reverse operation. Over travel stop is fixed as zero speed stop, and the motor shaft keeps the position locked.
236
237 The corresponding configuration and selection could be made through the DI terminal function selection. The default setting of DI3 is POT, DI4 is NOT.
238
239 (% class="table-bordered" %)
240 |=(% style="width: 73px;" %)**Code**|=(% style="width: 134px;" %)**Parameter Name**|=(% style="width: 114px;" %)**Property**|=(% style="width: 85px;" %)(((
241 **Effective**
242
243 **Time**
244 )))|=(% style="width: 69px;" %)**Range**|=(% style="width: 490px;" %)**Function**|=**Unit**|=**Default**
245 |(% style="width:73px" %)P6-08|(% style="width:134px" %)DI_3 function|(% style="width:114px" %)During running|(% style="width:85px" %)(((
246 Power-on
247
248 again
249 )))|(% style="width:69px" %)0~~16|(% style="width:490px" %)(((
250 1: SON, Servo ON
251
252 2: A-CLR, Fault and warning clear
253
254 3: POT, Forward limit switch
255
256 4: NOT, Reverse limit switch
257
258 5: ZCLAMP, Zero speed clamp
259
260 6: CL, Clear the position deviation
261
262 7: C-SIGN, Instruction negation
263
264 8: E-STOP, Emergency stop
265
266 9: GEAR-SEL, Electronic gear switching 1
267
268 10: GAIN-SEL, Gain switch
269
270 11: INH, Position reference inhibited
271
272 12: VSSEL, Damp control switch(not implemented yet)
273
274 13: INSPD1, Internal speed command selection 1(not implemented yet)
275
276 14: INSPD2, Internal speed command selection 2
277
278 (not implemented yet)
279
280 15: INSPD3, Internal speed command selection 3(not implemented yet)
281
282 16: J-SEL, Inertia ratio switch(not implemented yet)
283 )))|-|03-POT
284 |(% style="width:73px" %)P6-9|(% style="width:134px" %)DI_3 logic selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((
285 Power-on
286
287 again
288 )))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((
289 DI port input logic validity function selection.
290
291 0: Normal open input. Active when off (switch closed).
292
293 1: Normal closed input. Active when on (switch open).
294 )))|-|0
295 |(% style="width:73px" %)P6-10|(% style="width:134px" %)DI_3 input source selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((
296 Power-on
297
298 again
299 )))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((
300 0-hardware DI3
301
302 1-VDI3
303 )))|-|0
304 |(% style="width:73px" %)P6-11|(% style="width:134px" %)DI_4 function|(% style="width:114px" %)During running|(% style="width:85px" %)(((
305 Power-on
306
307 again
308 )))|(% style="width:69px" %)0~~16|(% style="width:490px" %)(((
309 1: SON, Servo ON
310
311 2: A-CLR, Fault and warning clear
312
313 3: POT, Forward limit switch
314
315 4: NOT, Reverse limit switch
316
317 5: ZCLAMP, Zero speed clamp
318
319 6: CL, Clear the position deviation
320
321 7: C-SIGN, Instruction negation
322
323 8: E-STOP, Emergency stop
324
325 9: GEAR-SEL, Electronic gear switching 1
326
327 10: GAIN-SEL, Gain switch
328
329 11: INH, Position reference inhibited
330
331 12: VSSEL, Damper control switch(not implemented yet)
332
333 13: INSPD1, Internal speed command selection 1(not implemented yet)
334
335 14: INSPD2, Internal speed command selection 2(not implemented yet)
336
337 15: INSPD3, Internal speed command selection 3(not implemented yet)
338
339 16: J-SEL, Inertia ratio switch(not implemented yet)
340 )))|-|04-NOT
341 |(% style="width:73px" %)P6-12|(% style="width:134px" %)DI_4 logic selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((
342 Power-on
343
344 again
345 )))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((
346 DI port input logic validity function selection.
347
348 0: Normal open input. Active when off (switch closed).
349
350 1: Normal closed input. Active when on (switch open).
351 )))|-|0
352 |(% style="width:73px" %)P6-13|(% style="width:134px" %)DI_4 input source selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((
353 Power-on
354
355 again
356 )))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((
357 0-hardware DI3
358
359 1-VDI3
360 )))|-|0
361
362 * Stop at Fault Occurrence
363
364 If the machine breaks down, the servo would perform fault shutdown operation. The current shutdown mode is fixed to free stop mode, and the motor shaft remains free.
365
366 = **6.2 Position mode** =
367
368 Position control mode is the most important and commonly used control mode of servo system. Position control refers to controlling the position of the motor through position commands, determining the target position of the motor based on the total number of position commands, and the frequency of the position command determines the rotation speed of the motor. The servo drive could achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used in applications requiring positioning control, such as manipulators, chip mounters, engraving machines, CNC machine tools, etc.
369
370 **The block diagram of position control is as follows:**
371
372 (% style="text-align:center" %)
373 [[image:1649921243846-652.png||class="img-thumbnail" height="272" width="800"]]
374
375 Figure 6-2 Position control diagram
376
377 == **6.2.1 Position Reference Input Setting** ==
378
379 The servo drive has 1 set of pulse input terminals for receiving position pulse input (through the CN2 terminal of the drive)
380
381 (% style="text-align:center" %)
382 [[image:1649921251765-622.png||class="img-thumbnail" height="525" width="600"]]
383
384 The reference from the host controller could be differential output or open collector output. The maximum input frequency is shown in** the following table:**
385
386 (% class="table-bordered" %)
387 |=**Pulse Type**|=**Differential**|=**Open collector**
388 |Max. frequency|500k|200k
389 |Voltage|5V|24V
390
391 1. **Low-speed Pulse Input   **Differential drive mode
392
393 (% style="text-align:center" %)
394 [[image:1649921259462-732.png||class="img-thumbnail" height="468" width="700"]]
395
396 1. **OC mode**
397
398 (% style="text-align:center" %)
399 [[image:1649921266972-816.png||class="img-thumbnail" height="472" width="700"]]
400
401 1. Position pulse selection
402
403 **The servo drive supports three pulse input formats:**
404
405 Direction + pulse (positive logic),Phase A + phase B quadrature pulse (4-frequency multiplication), CW + CCW
406
407 (% class="table-bordered" %)
408 |=(% style="width: 66px;" %)**Code**|=(% style="width: 160px;" %)**Parameter Name**|=(% style="width: 82px;" %)**Property**|=(% style="width: 113px;" %)(((
409 **Effective**
410
411 **Time**
412 )))|=(% style="width: 66px;" %)**Range**|=(% style="width: 473px;" %)**Function**|=**Unit**|=**Default**
413 |(% style="width:66px" %)P0-12|(% style="width:160px" %)Position pulse type selection|(% style="width:82px" %)At stop|(% style="width:113px" %)(((
414 Power-on
415
416 again
417 )))|(% style="width:66px" %)0~~2|(% style="width:473px" %)(((
418 0: Direction + pulse (positive logic)
419
420 1: CW/CCW
421
422 2: Phase A + phase B quadrature pulse (4-frequency multiplication)
423 )))|-|0
424
425 **The corresponding pulse waveform is as follows:**
426
427 [P0-12]=0 (Direction + pulse(positive logic))
428
429 **PULSE: **Pulse **SIGN: **Signal
430
431 (% class="table-bordered" %)
432 |=Positive pulse waveform|=Negative pulse waveform
433 |[[image:1649921282617-174.png||class="img-thumbnail"]]|[[image:1649921288519-277.png||class="img-thumbnail"]]
434
435 **(b) [P0-12]=1(CW/CCW)**
436
437 **PULSE: **Pulse **SIGN: **Signal
438
439 (% class="table-bordered" %)
440 |=Diagram
441 |[[image:1649921295885-867.png||class="img-thumbnail"]]
442
443 **(c) [P0-12]=2(**Phase A + phase B quadrature pulse (4-frequency multiplication)**)**
444
445 **PULSE(A phase): **pulse **SIGN(B phase): **signal
446
447 (% class="table-bordered" %)
448 |=Positive pulse waveform|=Negative pulse waveform
449 |(((
450 A advances B by 90°
451
452 [[image:1649921301605-567.png||class="img-thumbnail"]]
453 )))|(((
454 B advances A by 90°
455
456 [[image:1649921307520-989.png||class="img-thumbnail"]]
457 )))
458
459 **Position pulse frequency and anti-interference level**
460
461 Filtering time is necessary for the reference input pin to prevent external interference input to the driver and affect the control of the motor. The signal input and output waveforms with filtering enabled are shown in** the following figure:**
462
463 (% style="text-align:center" %)
464 [[image:1649921315771-948.png||class="img-thumbnail" height="328" width="800"]]
465
466 Figure 6-3 Filtering signal waveform
467
468 The input pulse frequency refers to the frequency of the input signal, and the frequency of the input pulse command could be modified through the function code [P0-13]. If the actual input frequency is greater than [P0-13], it may cause pulse loss or alarm. The function code [P0-14] could adjust the position pulse anti-interference level, the greater the value, the greater the depth of the filter.
469
470 **Relevant function code:**
471
472 (% class="table-bordered" %)
473 |=(% style="width: 79px;" %)**Code**|=(% style="width: 203px;" %)**Parameter Name**|=(% style="width: 96px;" %)**Property**|=(% style="width: 99px;" %)(((
474 **Effective**
475
476 **Time**
477 )))|=(% style="width: 86px;" %)**Range**|=(% style="width: 377px;" %)**Function**|=**Unit**|=**Default**
478 |(% style="width:79px" %)P0-13|(% style="width:203px" %)Position pulse frequency|(% style="width:96px" %)At stop|(% style="width:99px" %)(((
479 Power-on
480
481 again
482 )))|(% style="width:86px" %)1~~500|(% style="width:377px" %)Set the maximum pulse frequency|kHz|300
483 |(% style="width:79px" %)P0-14|(% style="width:203px" %)Position pulse anti-interference level|(% style="width:96px" %)At stop|(% style="width:99px" %)(((
484 Power-on
485
486 again
487 )))|(% style="width:86px" %)1~~3|(% style="width:377px" %)(((
488 Set the pulse anti-interference level.
489
490 1:Low anti-interference level. (0.1)
491
492 2: Medium (0.25)
493
494 3: High (0.4)
495 )))|-|2
496
497 == **6.2.2 Electronic Gear Ratio** ==
498
499 **[Glossary]**
500
501 **Reference unit:** It means the minimum value the host controller input to the servo drive.
502
503 **Encoder unit:** It means that the value from the input reference processed with the electronic gear ratio.
504
505 **[Electronic gear ratio definition]**
506
507 In position control mode, the input position reference (reference unit) defines the load displacement. the motor position reference (encoder unit) defines the motor displacement. The electronic gear ratio is used to indicate the relationship between input position reference and motor position reference. By dividing (electronic gear ratio < 1) or multiplying (electronic gear ratio > 1) the electronic gear ratio, the actual motor rotating or moving displacement within the input
508
509 position reference of one reference unit could be set.
510
511 **[Setting range of electronic gear ratio]**
512
513 The setting range of the electronic gear ratio should** **meet **the following conditions**:
514
515 (% style="text-align:center" %)
516 [[image:1649921327785-423.png||class="img-thumbnail" height="63" width="500"]]
517
518 Otherwise, it would display [Er. 35] "Electronic gear ratio setting over limit" fault.
519
520 **Electronic gear ratio setting Flowchart:**
521
522 (% style="text-align:center" %)
523 [[image:1649921334117-284.png||class="img-thumbnail" height="857" width="300"]]
524
525 Figure 6-4 Electronic gear ratio setting flowchart
526
527 Firstly, confirm the mechanical parameters, including confirming the reduction ratio, ball screw lead, gear diameter in gear transmission, pulley diameter in pulley transmission, etc. Confirm the resolution of the servo motor encoder used.
528
529 Confirm the parameters such as machine specifications and positioning accuracy, and determine the load displacement corresponding to the position command output by the host computer. Combine information including the mechanical parameters and the load displacement corresponding to one position command to calculate the position command value required for one rotation of the load shaft.
530
531 Electronic gear ratio = encoder resolution / position command (command unit) required for one revolution of the load shaft × reduction ratio, Set the function code parameters according to the calculated electronic gear ratio value.
532
533 In addition to use the electronic gear ratio function, you could also use [P0-16] (the number of command pulses for one rotation of the motor). Both gear ratio 1 and electronic gear ratio 2 are invalid when [P0-16] is not zero.
534
535 **Relevant function codes:**
536
537 (% class="table-bordered" %)
538 |=(% style="width: 68px;" %)**Code**|=(% style="width: 204px;" %)**Parameter Name**|=(% style="width: 85px;" %)**Property**|=(((
539 **Effective**
540
541 **Time**
542 )))|=(% style="width: 65px;" %)**Range**|=(% style="width: 447px;" %)**Function**|=(% style="width: 58px;" %)**Unit**|=(% style="width: 51px;" %)**Default**
543 |(% style="width:68px" %)P0-16|(% style="width:204px" %)pulse number per revolution|(% style="width:85px" %)At stop|(((
544 Power-on
545
546 again
547 )))|(% style="width:65px" %)0~~10000|(% style="width:447px" %)(((
548 Set the pulse number of per rotation
549
550 Only when P0-16=0 then P0-17,P0-18,P0-19,P0-20 would take effect
551 )))|(% style="width:58px" %)pulse|(% style="width:51px" %)10000
552 |(% style="width:68px" %)P0-17|(% style="width:204px" %)Electronic gear 1 numerator|(% style="width:85px" %)During running|Immediate|(% style="width:65px" %)1~~32767|(% style="width:447px" %)(((
553 Set the numerator of the first group electronic gear ratio.
554
555 It is valid when P0-16=0
556 )))|(% style="width:58px" %)-|(% style="width:51px" %)1
557 |(% style="width:68px" %)P0-18|(% style="width:204px" %)Electronic gear 1 denominator|(% style="width:85px" %)During running|Immediate|(% style="width:65px" %)1~~32767|(% style="width:447px" %)(((
558 Set the denominator of the first group electronic gear ratio.
559
560 It is valid when P0-16=0
561 )))|(% style="width:58px" %)-|(% style="width:51px" %)1
562 |(% style="width:68px" %)P0-19|(% style="width:204px" %)Electronic gear 2 numerator|(% style="width:85px" %)During running|Immediate|(% style="width:65px" %)1~~32767|(% style="width:447px" %)(((
563 Set the numerator of the first group electronic gear ratio.
564
565 It is valid when P0-16=0
566 )))|(% style="width:58px" %)-|(% style="width:51px" %)1
567 |(% style="width:68px" %)P0-20|(% style="width:204px" %)Electronic gear 2 denominator|(% style="width:85px" %)During running|Immediate|(% style="width:65px" %)1~~32767|(% style="width:447px" %)(((
568 Set the denominator of the first group electronic gear ratio.
569
570 It is valid when P0-16=0
571 )))|(% style="width:58px" %)-|(% style="width:51px" %)1
572
573 == **6.2.3 Position Reference Filter** ==
574
575 This function filters the position references (encoder unit) divided or multiplied by the electronic gear ratio. It involves the first-order filter and average filter.
576
577 **It is applicable to the following conditions:**
578
579 1. Acceleration/Deceleration is absent on the position references from the host controller.
580 1. The pulse frequency is too low.
581 1. The electronic gear ratio is larger than 10.
582
583 Properly setting the position loop filter time constant could run the motor more smoothly, so that the motor speed would not overshoot before it stabilizes. This setting has no effect on the number of command pulses.
584
585 The filter time is not as long as possible. The longer the filter time, the longer the delay time and the longer the response time.
586
587 (% style="text-align:center" %)
588 [[image:1649921346187-572.png||class="img-thumbnail" height="305" width="700"]]
589
590 Figure 6-5 position reference filter
591
592 **Relevant parameters:**
593
594 (% class="table-bordered" %)
595 |=**Code**|=**Parameter Name**|=**Property**|=(((
596 **Effective**
597
598 **Time**
599 )))|=**Range**|=**Function**|=**Unit**|=**Default**
600 |P4-1|Pulse command filtering mode|At stop|Immediate|0~~1|(((
601 0: first-order low-pass filtering
602
603 1: average filter
604 )))|-|0
605 |P4-2|Position command first-order low-pass filter|At stop|Immediate|0~~128|For pulse command input filtering|ms|0
606 |P4-3|Position command average filtering time constant|At stop|Immediate|0~~1000|For pulse command input filtering|ms|20
607
608 == **6.2.4 Position Deviation Clear** ==
609
610 Position deviation = Position reference – Position feedback (encoder unit)
611
612 The position deviation clear function refers to the function that the drive clears the deviation register in the position mode. The function of clearing position deviation could be realized through DI terminal.
613
614 == **6.2.5 Frequency-Division Output** ==
615
616 The encoder pulse is output as a quadrature differential signal after divided by the internal circuit of the servo driver. The phase and frequency of the frequency-divided signal could be set by parameters. The source of frequency division output could be set by function code, and the setting of different sources makes the function of frequency division output more widely used.
617
618 (% style="text-align:center" %)
619 [[image:1649921354912-251.png||class="img-thumbnail" height="385" width="500"]]
620
621 Figure 6-6 diagram of frequency division output wiring
622
623 **The frequency-division output is a differential signal output:**
624
625 **Phase A pulse: **PAO +, PAO-, differential output, the maximum output pulse frequency is 2Mpps
626
627 **Phase B pulse: **PBO +, PBO-, differential output, the maximum output pulse frequency is 2Mpps
628
629 **Phase Z pulse:** PZO +, PZO-, differential output, the maximum output pulse frequency is 2Mpps
630
631 The frequency division pulse output direction could be set through the function code [P0-21]. The waveform diagram of the encoder frequency division pulse output is** as follows:**
632
633 (% class="table-bordered" %)
634 |=**P0-21**|=**Forward rotation, pulse output waveform**|=**Reverse rotation, pulse output waveform**
635 |0|[[image:1649921362127-560.png||class="img-thumbnail"]]|[[image:1649921367265-349.png||class="img-thumbnail"]]
636 |1|[[image:1649921375859-464.png||class="img-thumbnail"]]|[[image:1649921381044-457.png||class="img-thumbnail"]]
637
638 In addition, the Z pulse output polarity could be set through function code P0-23, as shown in **the** **following figure:**
639
640 (% class="table-bordered" %)
641 |=**P0-23(Z pulse output polarity)**|=**pulse waveform (forward / reverse)**
642 |0|[[image:1649921388966-901.png]]
643 |1|[[image:1649921394645-918.png]]
644
645 Function code P0-22(the number of output pulses per revolution of the motor) is used to set the number of output pulses of the A and B phases of the motor, and changing the function code could set the frequency division of the output.
646
647 **Relevant parameters:**
648
649 (% class="table-bordered" %)
650 |=(% style="width: 69px;" %)**Code**|=(% style="width: 151px;" %)**Parameter Name**|=(% style="width: 82px;" %)**Property**|=(% style="width: 87px;" %)(((
651 **Effective**
652
653 **Time**
654 )))|=**Range**|=**Function**|=**Unit**|=**Default**
655 |(% style="width:69px" %)P0-21|(% style="width:151px" %)frequency-dividing output direction|(% style="width:82px" %)At stop|(% style="width:87px" %)(((
656 Power-on
657
658 again
659 )))|0~~1|(((
660 Quadrature pulse output.
661
662 0: When the motor rotation direction is CW, A advances B
663
664 1: When the motor rotation direction is CCW, B advances A
665 )))|-|0
666 |(% style="width:69px" %)P0-22|(% style="width:151px" %)Encoder ppr|(% style="width:82px" %)At stop|(% style="width:87px" %)Power-on|10~~10000|Quadrature output. Set the number of output pulses of phase A and phase B for each rotation of the motor|Pulse|2500
667 |(% style="width:69px" %)P0-23|(% style="width:151px" %)(((
668 Z pulse output
669
670 OZ polarity
671 )))|(% style="width:82px" %)At stop|(% style="width:87px" %)again|0~~1|(((
672 0-Z Active when pulse is high
673
674 1-Z Active when pulse is low
675 )))|-|0
676
677 == **6.2.6 Position-relevant DO output function** ==
678
679 The feedback value of the position command is compared with different thresholds, and the DO signal could be output for the host controller to use.
680
681 (1)Positioning completed/near output
682
683 The internal command completion function means that when the multi position reference within the servo is zero, it could be considered that the command transmission is completed. At this time, the servo drive could output the internal command completion signal, and the host computer could confirm that the multi-segment position command within the servo drive has been sent.
684
685 The positioning completion function means that the position deviation meets the conditions set by the [P5-12], and it could be considered that the positioning is completed in the position control mode. At this time, the servo driver could output the positioning completion signal, and the host controller could confirm that the positioning of the servo driver is completed after receiving this signal.
686
687 **The functional schematic diagram is as follows:**
688
689 (% style="text-align:center" %)
690 [[image:1649921403464-270.png||class="img-thumbnail" height="393" width="600"]]
691
692 Figure 6-7 positioning completed diagram
693
694 When using the positioning completion / proximity function, you could also set positioning completion, positioning proximity conditions, window, and hold time. The diagram of window filtering time is shown in** the figure below:**
695
696 (% style="text-align:center" %)
697 [[image:1649921410286-328.png||class="img-thumbnail" height="429" width="750"]]
698
699 Figure 6-8 diagram of positioning completion signal output with window filtering time
700
701 **Relevant parameters:**
702
703 (% class="table-bordered" %)
704 |=(% style="width: 77px;" %)**Code**|=(% style="width: 136px;" %)**Parameter Name**|=(% style="width: 93px;" %)**Property**(((
705 **Effective**
706
707 **Time**
708 )))|=(% style="width: 92px;" %)**Range**|=(% style="width: 82px;" %) **Function**|=(% style="width: 485px;" %)**Function**|=**Unit**|=**Default**
709 |(% style="width:77px" %)P5-11|(% style="width:136px" %)Positioning completed, positioning near setting|(% style="width:93px" %)During running|(% style="width:92px" %)Immediate|(% style="width:82px" %)1~~3|(% style="width:485px" %)(((
710 Output signal judging conditions for positioning completed and positioning near
711
712 0:The output is valid when the absolute value of the position deviation is less than the positioning completion threshold / location near threshold.
713
714 1:The absolute value of the position deviation is less than the positioning completion threshold / positioning near threshold, and the input position command is 0 then the output is valid
715
716 2:The absolute value of the position deviation is smaller than the positioning completion threshold / positioning approach threshold, and the input position command filter value is 0 then the output is valid
717
718 3:The absolute value of the position deviation is less than the positioning completion threshold / positioning approach threshold, the input position command filter value is 0, and the positioning detection time window is continued then the output is valid
719 )))|-|0
720 |(% style="width:77px" %)P5-12|(% style="width:136px" %)Positioning completed threshold|(% style="width:93px" %)During running|(% style="width:92px" %)Immediate|(% style="width:82px" %)1~~65535|(% style="width:485px" %)Positioning completion threshold|Pulse|800
721 |(% style="width:77px" %)P5-13|(% style="width:136px" %)Positioning approach threshold|(% style="width:93px" %)During running|(% style="width:92px" %)Immediate|(% style="width:82px" %)1~~65535|(% style="width:485px" %)Positioning near threshold|Pulse|5000
722 |(% style="width:77px" %)P5-14|(% style="width:136px" %)Positioning detection time window|(% style="width:93px" %)During running|(% style="width:92px" %)Immediate|(% style="width:82px" %)0~~20000|(% style="width:485px" %)Set the positioning completion detection time window|ms|10
723 |(% style="width:77px" %)P5-15|(% style="width:136px" %)Positioning signal hold time|(% style="width:93px" %)During running|(% style="width:92px" %)Immediate|(% style="width:82px" %)0~~20000|(% style="width:485px" %)Set the hold time of positioning completion output|ms|100
724
725 To use the positioning completion function, the DO terminal of the servo drive should be assigned as the positioning completion function and determine the valid logic. Take the DO1 terminal as an example, **the relevant function code:**
726
727 (% class="table-bordered" %)
728 |=(% style="width: 86px;" %)**Code**|=(% style="width: 173px;" %)**Parameter Name**|=(% style="width: 125px;" %)**Property**|=(% style="width: 112px;" %)(((
729 **Effective**
730
731 **Time**
732 )))|=(% style="width: 96px;" %)**Range**|=(% style="width: 362px;" %)**Function**|=**Unit**|=**Default**
733 |(% style="width:86px" %)P6-26|(% style="width:173px" %)DO_1 function selection|(% style="width:125px" %)During running|(% style="width:112px" %)(((
734 Power-on
735
736 again
737 )))|(% style="width:96px" %)128~~142|(% style="width:362px" %)(((
738 129-RDY Servo Ready
739
740 130-ALM Alarm
741
742 131-WARN Warning
743
744 132-TGON Motor rotation output
745
746 133-ZSP Zero speed signal
747
748 134-P-COIN Positioning completed
749
750 135-P-NEAR Positioning near
751
752 136-V-COIN Speed consistent
753
754 137-V-NEAR Speed near
755
756 138-T-COIN Torque reached
757
758 139-T-LIMIT Torque limit
759
760 140-V-LIMIT Speed limit
761
762 141-BRK-OFF Solenoid brake
763
764 (not implemented yet)
765
766 142-SRV-ST Enable Servo status output
767 )))|-|131
768 |(% style="width:86px" %)P6-27|(% style="width:173px" %)DO_1 logic selection|(% style="width:125px" %)During running|(% style="width:112px" %)(((
769 Power-on
770
771 again
772 )))|(% style="width:96px" %)0~~1|(% style="width:362px" %)(((
773 Output logic function selection. ★
774
775 ~1. Set to 0:
776
777 When the signal is valid, the output transistor is on.
778
779 When the signal is invalid, the output transistor is off.
780
781 2. Set to 1:
782
783 When the signal is valid, the output transistor is off.
784
785 When the signal is invalid, the output transistor is on.
786 )))|-|0
787
788 ----
789
790 == **6.2.7 Servo position control case** ==
791
792 **Introduction**
793
794 This case uses three commonly used PLC positioning instructions to implement the servo position control mode actions.
795
796 == **6.2.8 I/O wiring** ==
797
798 (% style="text-align:center" %)
799 [[image:1649921424832-617.png||class="img-thumbnail" height="473" width="700"]]
800
801 == **6.2.9 Servo parameter setting** ==
802
803 **Step 1**:Power on the servo, set the M key on the panel of the servo drive, set the value of function code P0-1 to 1, and 1 is the position control mode;
804
805 (% class="table-bordered" %)
806 |=**Code**|=(% style="width: 144px;" %)**Parameter Name**|=(% style="width: 126px;" %)**Property**|=(% style="width: 130px;" %)(((
807 **Effective**
808
809 **Time**
810 )))|=(% style="width: 87px;" %)**Range**|=(% style="width: 369px;" %)**Function**|=**Unit**|=**Default**
811 |P0-1|(% style="width:144px" %)(((
812 Control mode
813
814 (default setting)
815 )))|(% style="width:126px" %)At stop|(% style="width:130px" %)Power-on again|(% style="width:87px" %)1~~10|(% style="width:369px" %)(((
816 1: Position control mode
817
818 2: Speed control mode
819
820 3: Torque control mode
821 )))|-|1
822
823 **Step 2**:Set the value of function code P0-4, 0 is forward rotation, 1 is reverse rotation
824
825 (% class="table-bordered" %)
826 |=**Code**|=(% style="width: 144px;" %)**Parameter Name**|=(% style="width: 88px;" %)**Property**|=(% style="width: 119px;" %)(((
827 **Effective**
828
829 **Time**
830 )))|=(% style="width: 81px;" %)**Range**|=(% style="width: 433px;" %)**Function**|=**Unit**|=**Default**
831 |P0-4|(% style="width:144px" %)(((
832 Rotating
833
834 direction
835
836 selection
837 )))|(% style="width:88px" %)At stop|(% style="width:119px" %)(((
838 Power-on
839
840 again
841 )))|(% style="width:81px" %)0~~1|(% style="width:433px" %)(((
842 Forward direction:viewed from the motor shaft.
843
844 0: CW direction as the forward direction
845
846 1: CCW direction as the
847
848 forward direction
849 )))|-|0
850
851 **Step 3**:Set the value of function code P6-04 to 1. 0 is the hardware DI_1 channel, which requires wiring; 1 is the virtual DI_1 channel,no wiring is required.
852
853 (% class="table-bordered" %)
854 |=**Code**|=**Function**|=**Effective time**|=**Default**|=**Range**|=**Description**
855 |P13-1|Virtual VDI_1 input value|▲|0|0-1|(((
856 VDI1 input level:
857
858 0: low level. 1: high level.
859 )))
860
861 **Step 4**:Set the value of the function code P13-1 to choose whether VDI1 is valid at high or low levels.
862
863 **✎Note:** the value of function code P6-02 should be set to 1. Only in this way can the motor rotate.
864
865 (% class="table-bordered" %)
866 |=(% style="width: 74px;" %)**Code**|=(% style="width: 142px;" %)**Function**|=(% style="width: 116px;" %)**Effective time**|=(% style="width: 76px;" %)**Default**|=(% style="width: 70px;" %)**Range**|=(% style="width: 548px;" %)**Description**|=**Unit**
867 |(% style="width:74px" %)P6-02|(% style="width:142px" %)DI_1 function selection|(% style="width:116px" %)△|(% style="width:76px" %)1|(% style="width:70px" %)0-16|(% style="width:548px" %)(((
868 1: SON, Servo ON
869
870 2: A-CLR, Fault and warning clear
871
872 3: POT, Forward limit switch
873
874 4: NOT, Reverse limit switch
875
876 5: ZCLAMP, Zero speed clamp
877
878 6: CL, Clear the position deviation
879
880 7: C-SIGN, Instruction negation
881
882 8: E-STOP, Emergency stop
883
884 9: GEAR-SEL, Electronic gear switching 1
885
886 10: GAIN-SEL, Gain switch
887
888 11: INH, Position reference inhibited
889
890 12: VSSEL, Damer control switch(not implemented yet)
891
892 13: INSPD1, Internal speed command selection 1(not implemented yet)
893
894 14: INSPD2, Internal speed command selection 2(not implemented yet)
895
896 15: INSPD3, Internal speed command selection 3(not implemented yet)
897
898 16: J-SEL, Inertia ratio switch(not implemented yet)
899 )))|
900
901 == **6.2.10 PLC Project** ==
902
903 (% style="text-align:center" %)
904 [[image:1649921441261-362.png||class="img-thumbnail" height="256" width="800"]]
905
906 == **6.2.11 Explanation** ==
907
908 The program uses M0,M1,M2 as the switch button of three modes of actions.
909
910 When M0 is turned on, the Y0 servo motor rotates 5000 pulses in the direction of Y3.
911
912 When M1 is turned on, the Y0 servo motor rotates 20,000 pulses at the speed of 4,000 pulses, and Y3 represents the direction of the motor.
913
914 When M2 is turned on, the Y0 servo motor moves to the absolute position of 2000 at the speed of 4000 pulses, and Y3 represents the direction of the motor.
915
916 = **6.3 Speed mode** =
917
918 Speed control refers to control the speed of the machine through the speed reference. Through internal digital setting, analog voltage or communication, the servo drive could achieve fast and precise control of the mechanical speed. Therefore, the speed control mode is mainly used to control the rotation speed, or use the host controller to realize the position control, and the host controller output is used as the speed reference, such as analog engraving and milling machine.
919
920 The speed control block diagram is **as follows:**
921
922 (% style="text-align:center" %)
923 [[image:1649921468579-521.png||class="img-thumbnail" height="255" width="800"]]
924
925 Figure1 speed control diagram
926
927 Set the parameter P0-1 to 2 through the panel or debugging tool on PC to make the servo drive work in speed control mode.
928
929 **Relevant function code**:
930
931 (% class="table-bordered" %)
932 |=**Code**|=**Parameter Name**|=**Property**|=(((
933 **Effective**
934
935 **Time**
936 )))|=**Range**|=**Function**|=**Unit**|=**Default**
937 |P0-1|Control mode (default setting)|At stop|Power-on again|1~~10|(((
938 1: Position control mode
939
940 2: Speed control mode
941
942 3: Torque control mode
943 )))|-|1
944
945 == ** 6.3.1 Speed Reference Input Setting** ==
946
947 (% style="text-align:center" %)
948 [[image:1649921476490-234.png||class="img-thumbnail" height="392" width="600"]]
949
950 Speed Reference Source
951
952 There are two sources of speed reference in speed control mode, which could be set by [P1-1].
953
954 **Relevant function code:**
955
956 (% class="table-bordered" %)
957 |=**Code**|=**Parameter Name**|=**Property**|=(% colspan="2" %)(((
958 **Effective**
959
960 **Time**
961 )))|=**Range**|=**Function**|=**Unit**|=**Default**
962 |P1-1|Speed command source|(% colspan="2" %)At stop|Immediate|0~~1|(((
963 0: Internal speed command (set in P1-3).
964
965 1: AI_1 analog input.
966 )))|-|0
967
968 Internal speed reference
969
970 Set the speed value through the function code [P1-2] as the speed reference.
971
972 **Relevant function codes**:
973
974 (% class="table-bordered" %)
975 |=(% style="width: 80px;" %)**Code**|=(% style="width: 198px;" %)**Parameter Name**|=(% style="width: 142px;" %)**Property**|=(% style="width: 120px;" %)(((
976 **Effective**
977
978 **Time**
979 )))|=(% style="width: 123px;" %)**Range**|=(% style="width: 278px;" %)**Function**|=(% style="width: 54px;" %)**Unit**|=(% style="width: 80px;" %)**Default**
980 |(% style="width:80px" %)P1-2|(% style="width:198px" %)Internal speed command|(% style="width:142px" %)During running|(% style="width:120px" %)Immediate|(% style="width:123px" %)-3000~~3000|(% style="width:278px" %)Internal speed command|(% style="width:54px" %)rpm|(% style="width:80px" %)100
981
982 Analog voltage input as a reference
983
984 Take the analog voltage signal output by the host controller or other equipments, processed as a speed reference.
985
986 **Analog voltage setting method**:
987
988 (% style="text-align:center" %)
989 [[image:1649921484882-112.png||class="img-thumbnail" height="855" width="250"]]
990
991 Figure 2 flowchart of setting speed reference by analog voltage
992
993 **Glossary**:
994
995 **Zero drift: **Value of the servo drive sampling voltage relative to GND when the input
996
997 voltage of the analog channel is zero.
998
999 **Offset: **Input voltage value of the analog channel when the sampling voltage is zero after
1000
1001 zero drift correction.
1002
1003 **Dead zone: **Input voltage range of the analog channel when the sampling voltage is zero.
1004
1005 (% style="text-align:center" %)
1006 [[image:1649921492713-261.png||class="img-thumbnail" height="415" width="700"]]
1007
1008 Figure 3 Analog signal after-offset
1009
1010 After completing the correct settings, you could view the input voltage values of AI_1 and AI_2 through U0-21 and U0-22
1011
1012 (% class="table-bordered" %)
1013 |=**Code**|=**Function**|=**Unit**|=**Format**
1014 |U0-21|AI1 input voltage value|V|decimal(3 decimal digits)
1015 |U0-22|AI2 input voltage value|V|decimal(3 decimal digits)
1016
1017 **Relevant function codes**:
1018
1019 (% class="table-bordered" %)
1020 |=(% style="width: 61px;" %)**Code**|=(% style="width: 194px;" %)**Parameter Name**|=**Property**|=(((
1021 **Effective**
1022
1023 **Time**
1024 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1025 |(% style="width:61px" %)P5-1|(% style="width:194px" %)AI_1 input bias|During running|Immediate|-5000~~5000|Set AI_1 channel analog offset value|mv|0
1026 |(% style="width:61px" %)P5-2|(% style="width:194px" %)AI_1 Input filter constant|During running|Immediate|0~~65535|AI_1 channel input first-order low-pass filtering time constant|ms|200
1027 |(% style="width:61px" %)P5-3|(% style="width:194px" %)AI_1 dead zone|During running|Immediate|0~~1000|Set AI_1 channel analog dead zone value|mv|20
1028 |(% style="width:61px" %)P5-4|(% style="width:194px" %)AI_1 zero drift|During running|Immediate|-500~~500|Automatic calibration zero drift inside the driver.|mv|0
1029 |(% style="width:61px" %)P5-5|(% style="width:194px" %)AI_2 input bias|During running|Immediate|-5000~~5000|Set AI_2 channel analog offset value|mv|0
1030 |(% style="width:61px" %)P5-6|(% style="width:194px" %)AI_2 Input filter constant|During running|Immediate|0~~60000|AI_2 channel input first-order low-pass filtering time constant|ms|200
1031 |(% style="width:61px" %)P5-7|(% style="width:194px" %)AI_2 dead zone|During running|Immediate|0~~1000|Set AI_1 channel analog dead zone value|mv|20
1032 |(% style="width:61px" %)P5-8|(% style="width:194px" %)AI_2 zero drift|During running|Immediate|-500~~500|Automatic calibration zero drift value inside the driver|mv|0
1033 |(% style="width:61px" %)P5-9|(% style="width:194px" %)Analog 10V for speed value|At stop|Immediate|1000~~4500|Set the speed value corresponding to analog 10V|rpm|3000
1034 |(% style="width:61px" %)P5-10|(% style="width:194px" %)Analog 10V for torque value|At stop|Immediate|0~~3000|Set the torque value corresponding to analog 10V|0.1%|1000
1035
1036 == **6.3.2 Acceleration and deceleration time setting** ==
1037
1038 The acceleration/deceleration time setting refers to convert a speed command with a relatively high acceleration into a speed command with a relatively gentle acceleration, so as to achieve the purpose of controlling the acceleration.
1039
1040 In the speed control mode, excessive acceleration of the speed command would cause the vibration. At this time, increase the acceleration or deceleration time to achieve a smooth speed change of the motor and avoid mechanical damage caused by the above situation.
1041
1042 (% style="text-align:center" %)
1043 [[image:1649921501713-829.png||class="img-thumbnail" height="387" width="600"]]
1044
1045 Figure 4 diagram of acc. and dec. time
1046
1047 Actual acceleration time T1 = speed reference / 1000 * acceleration time
1048
1049 Actual deceleration time T2 = speed reference / 1000 * deceleration time
1050
1051 **Relevant function codes**:
1052
1053 (% class="table-bordered" %)
1054 |=(% style="width: 65px;" %)**Code**|=(% style="width: 136px;" %)**Parameter Name**|=**Property**|=(((
1055 **Effective**
1056
1057 **Time**
1058 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1059 |(% style="width:65px" %)P1-3|(% style="width:136px" %)Acc. time|During running|Immediate|0~~65535|Acceleration time from 0 to 1000rpm in speed command mode|ms|50
1060 |(% style="width:65px" %)P1-4|(% style="width:136px" %)Dec. time|During running|Immediate|0~~65535|Deceleration time from 1000 to 0 rpm in speed command mode|ms|50
1061
1062 == **6.3.3 Speed Reference Limitation** ==
1063
1064 The servo drive could display the value of the speed reference in speed mode.
1065
1066 Sources of speed instruction limits include:
1067
1068 **[P1-10]: **Set the maximum speed limit value
1069
1070 **[P1-12]:** Set forward speed limit value
1071
1072 **[P1-13]: **Set the reverse speed limit value
1073
1074 **Maximum motor speed:** determined according to the model of the motor
1075
1076 ~| The amplitude of the forward speed reference | ≤ min {Max. motor speed, P1-10, P1-12}
1077
1078 ~| The amplitude of the negative speed reference | ≤ min {Max. speed of the motor, P1-10, P1-13}
1079
1080 **Relevant function codes:**
1081
1082 (% class="table-bordered" %)
1083 |=(% style="width: 74px;" %)**Code**|=(% style="width: 210px;" %)**Parameter Name**|=**Property**|=(((
1084 **Effective  Time**
1085 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1086 |(% style="width:74px" %)P1-10|(% style="width:210px" %)Max speed threshold|During running|Immediate|0~~5000|Set the maximum speed limit value.|rpm|3600
1087 |(% style="width:74px" %)P1-12|(% style="width:210px" %)Forward speed threshold|During running|Immediate|0~~3000|Set forward speed limit|rpm|3000
1088 |(% style="width:74px" %)P1-13|(% style="width:210px" %)Reverse speed threshold|During running|Immediate|0~~3000|Set reverse speed limit|rpm|3000
1089
1090 == **6.3.4 Zero Speed Clamp Function** ==
1091
1092 Zero speed clamping function means that when the zero speed clamping signal (ZCLAMP) is valid, when the absolute value of the speed reference is lower than the zero speed clamping speed value, the servo motor is in the locked state. At this time, the servo drive is in position lock mode, and the speed reference is invalid.
1093
1094 **Relevant function codes:**
1095
1096 (% class="table-bordered" %)
1097 |=(% style="width: 69px;" %)**Code**|=(% style="width: 176px;" %)**Parameter Name**|=**Property**|=(((
1098 **Effective Time**
1099 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1100 |(% style="width:69px" %)P1-21|(% style="width:176px" %)Zero speed clamp function selection|During running|Immediate|0~~3|(((
1101 Set the zero speed clamp function. In speed mode:
1102
1103 0: Force speed to 0.
1104
1105 1: Force the speed to 0, and keep the position locked when the actual speed is less than [P1.22].
1106
1107 2: When the speed reference is less than [P1-22], force the speed to 0 and keep the position locked.
1108
1109 3: Invalid, ignore the zero speed clamp input.
1110 )))|-|0
1111 |(% style="width:69px" %)P1-22|(% style="width:176px" %)Speed threshold for zero|During running|Immediate|0~~1000|Set the speed threshold of the zero speed clamp function|rpm|20
1112
1113 (% style="text-align:center" %)
1114 [[image:1649921513950-217.png||class="img-thumbnail" height="388" width="600"]]
1115
1116 Figure 5 Zero Speed Clamp waveform
1117
1118 == **6.3.5 Speed-relevant DO Signals** ==
1119
1120 Different DO signals are output to the host controller based on comparison between the speed feedback after filter and different thresholds. We need to assign different function for the DO terminals and set the valid logic.
1121
1122 Motor Rotation DO Signal
1123
1124 After the speed reference is filtered, the absolute value of the actual speed of the servo motor reaches [P5-16] (rotation detection speed threshold), then the motor is considered to be rotating. At this time, the DO terminal of the servo drive could output a rotation detection signal. Conversely, when the actual rotation speed of the servo motor does not reach [P5-16], it is considered that the motor is not rotating.
1125
1126 (% style="text-align:center" %)
1127 [[image:1649921523559-858.png||class="img-thumbnail" height="236" width="600"]]
1128
1129 Figure 6-14 motor rotation DO signal
1130
1131 **Relevant function codes**:
1132
1133 (% class="table-bordered" %)
1134 |=(% style="width: 69px;" %)**Code**|=(% style="width: 257px;" %)**Parameter Name**|=**Property**|=(((
1135 **Effective**
1136
1137 **Time**
1138 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1139 |(% style="width:69px" %)P5-16|(% style="width:257px" %)Rotation detection speed threshold|During running|Immediate|0~~1000|Set motor rotation signal judgment threshold|rpm|20
1140 |(% style="width:69px" %)P6-26|(% style="width:257px" %)DO_1 function selection|During running|Immediate|128~~142|132-TGON rotation detection|-|131
1141
1142 Zero speed signal
1143
1144 The absolute value of the actual speed of the servo motor is less than a certain threshold [P5-19], it is considered that the servo motor stops rotating, and the DO terminal of the servo drive could output a zero speed signal at this time. Conversely, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero speed signal is invalid.
1145
1146 (% style="text-align:center" %)
1147 [[image:1649921531202-104.png||class="img-thumbnail" height="373" width="600"]]
1148
1149 Figure 6 zero speed signal waveform
1150
1151 **Relevant function codes:**
1152
1153 (% class="table-bordered" %)
1154 |=(% style="width: 68px;" %)**Code**|=(% style="width: 267px;" %)**Parameter Name**|=**Property**|=(((
1155 **Effective**
1156
1157 **Time**
1158 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1159 |(% style="width:68px" %)P5-19|(% style="width:267px" %)Zero speed output signal threshold|During running|Immediate|0~~6000|Zero speed output signal threshold|rpm|10
1160 |(% style="width:68px" %)P7-18|(% style="width:267px" %)DO_1 function selection|During running|Power on again|128~~142|133-ZSP zero speed signal|-|132
1161
1162 Speed Consistent DO Signal
1163
1164 In speed control, when the absolute value of the difference between the motor speed after filter and the speed reference satisfies the setting of [P5-17], the actual motor speed is considered to reach the speed reference. At this moment, the servo drive outputs the speed consistent signal. When the absolute value of the difference between the motor speed after filter and the speed reference exceeds the setting of [P5-17], the speed consistent signal is inactive.
1165
1166 (% style="text-align:center" %)
1167 [[image:1649921539069-575.png||class="img-thumbnail" height="366" width="600"]]
1168
1169 Figure 7 Speed Consistent Waveform
1170
1171 **Relevant function codes:**
1172
1173 (% class="table-bordered" %)
1174 |=(% style="width: 67px;" %)**Code**|=(% style="width: 260px;" %)**Parameter Name**|=**Property**|=(((
1175 **Effective**
1176
1177 **Time**
1178 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1179 |(% style="width:67px" %)P5-17|(% style="width:260px" %)Speed consistent signal threshold|During running|Immediate|0~~100|Set the speed consistent signal threshold|rpm|10
1180 |(% style="width:67px" %)P7-18|(% style="width:260px" %)DO_1 function selection |During running|Immediate|128~~142|135-V-COIN speed consistent|-|135
1181
1182 Speed Reached DO Signal
1183
1184 When the absolute value of the motor speed after filter exceeds the setting of[P4-16],the motor speed is considered to reach the desired value. At this moment, the servo drive outputs the speed reached signal. When the absolute value of the motor speed after filter is smaller than or equal to the setting of[P4-16], the speed reached signal is inactive.
1185
1186 (% style="text-align:center" %)
1187 [[image:1649921547861-635.png||class="img-thumbnail" height="323" width="600"]]
1188
1189 Figure 6-17 Speed reached signal waveform
1190
1191 **Relevant function codes:**
1192
1193 (% class="table-bordered" %)
1194 |=(% style="width: 71px;" %)**Code**|=(% style="width: 274px;" %)**Parameter Name**|=**Property**|=(((
1195 **Effective**
1196
1197 **Time**
1198 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1199 |(% style="width:71px" %)P5-18|(% style="width:274px" %)Speed approaching signal threshold|During running|Immediate|10~~6000|Speed reached signal threshhold|rpm|100
1200 |(% style="width:71px" %)P7-18|(% style="width:274px" %)DO_1 function selection |During running|Power on again|128~~142|136-V-NEAR speed near |-|136
1201
1202 = **6.4 Torque mode** =
1203
1204 The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current could achieve the control of the torque. Torque control refers to controlling the output torque of the motor through a torque reference. Torque reference could be given by internal command and analog voltage.
1205
1206 **The torque control block diagram is as follows**:
1207
1208 (% style="text-align:center" %)
1209 [[image:1649921574316-568.png||class="img-thumbnail" height="230" width="700"]]
1210
1211 == **6.4.1 Torque Reference Input Setting** ==
1212
1213 (% style="text-align:center" %)
1214 [[image:1649921579089-736.png||class="img-thumbnail" height="379" width="600"]]
1215
1216 == **6.4.2 Torque reference source** ==
1217
1218 In the torque control mode, there are two sources of torque reference, which could be set through [P1-7].** Relevant function codes:**
1219
1220 (% class="table-bordered" %)
1221 |=(% style="width: 81px;" %)(((
1222 **Code**
1223 )))|=(% style="width: 242px;" %)(((
1224 **Parameter Name**
1225 )))|=(((
1226 **Property**
1227 )))|=(((
1228 (((
1229 **Effective**
1230
1231 **Time**
1232 )))
1233
1234 (((
1235
1236 )))
1237 )))|=(((
1238 **Range**
1239 )))|=(((
1240 **Function**
1241 )))|=(((
1242 **Unit**
1243 )))|=(((
1244 **Default**
1245 )))
1246 |(% style="width:81px" %)(((
1247 P1-7
1248 )))|(% style="width:242px" %)(((
1249 Torque reference source
1250 )))|(((
1251 At stop
1252 )))|(((
1253 Immediate
1254 )))|(((
1255 0~~1
1256 )))|(((
1257 0: Internal torque command.
1258
1259 1: AI_1 analog input.
1260 )))|(((
1261 -
1262 )))|(((
1263 0
1264 )))
1265
1266 == **6.4.3 Digital setting** ==
1267
1268 The source of the torque reference is an internal command, which is set through function code [P1-8]. **Relevant function codes:**
1269
1270 (% class="table-bordered" %)
1271 |=(% style="width: 73px;" %)(((
1272 **Code**
1273 )))|=(% style="width: 315px;" %)(((
1274 **Parameter Name**
1275 )))|=(((
1276 **Property**
1277 )))|=(((
1278 **Effective**
1279
1280 **Time**
1281 )))|=(((
1282 **Range**
1283 )))|=(((
1284 **Function**
1285 )))|=(((
1286 **Unit**
1287 )))|=(((
1288 **Default**
1289 )))
1290 |(% style="width:73px" %)(((
1291 P1-8
1292 )))|(% style="width:315px" %)(((
1293 Torque reference keyboard set value
1294 )))|(((
1295 During running
1296 )))|(((
1297 Immediate
1298 )))|(((
1299 -3000~~3000
1300 )))|(((
1301 -300.0%～300.0%
1302 )))|(((
1303 0.1%
1304 )))|(((
1305 0
1306 )))
1307
1308 == **6.4.4 Analog voltage setting** ==
1309
1310 (% class="table-bordered" %)
1311 |=(((
1312 **Code**
1313 )))|=(((
1314 **Function**
1315 )))|=(((
1316 **Unit**
1317 )))|=(((
1318 **Format**
1319 )))
1320 |(((
1321 U0-21
1322 )))|(((
1323 AI1 input voltage value
1324 )))|(((
1325 V
1326 )))|(((
1327 decimal(3 decimal digits)
1328 )))
1329 |(((
1330 U0-22
1331 )))|(((
1332 AI2 input voltage value
1333 )))|(((
1334 V
1335 )))|(((
1336 decimal(3 decimal digits)
1337 )))
1338
1339 (% class="table-bordered" %)
1340 |=(% style="width: 61px;" %)(((
1341 **Code**
1342 )))|=(% style="width: 194px;" %)(((
1343 **Parameter Name**
1344 )))|=(((
1345 **Property**
1346 )))|=(((
1347 **Effective**
1348
1349 **Time**
1350 )))|=(((
1351 **Range**
1352 )))|=(((
1353 **Function**
1354 )))|=(((
1355 **Unit**
1356 )))|=(((
1357 **Default**
1358 )))
1359 |(% style="width:61px" %)(((
1360 P5-1
1361 )))|(% style="width:194px" %)(((
1362 AI_1 input bias
1363 )))|(((
1364 During running
1365 )))|(((
1366 Immediate
1367 )))|(((
1368 -5000~~5000
1369 )))|(((
1370 Set AI_1 channel analog offset value
1371 )))|(((
1372 mv
1373 )))|(((
1374 0
1375 )))
1376 |(% style="width:61px" %)(((
1377 P5-2
1378 )))|(% style="width:194px" %)(((
1379 AI_1 Input filter constant
1380 )))|(((
1381 During running
1382 )))|(((
1383 Immediate
1384 )))|(((
1385 0~~65535
1386 )))|(((
1387 AI_1 channel input first-order low-pass filtering time constant
1388 )))|(((
1389 ms
1390 )))|(((
1391 200
1392 )))
1393 |(% style="width:61px" %)(((
1394 P5-3
1395 )))|(% style="width:194px" %)(((
1396 AI_1 dead zone
1397 )))|(((
1398 During running
1399 )))|(((
1400 Immediate
1401 )))|(((
1402 0~~1000
1403 )))|(((
1404 Set AI_1 channel analog dead zone value
1405 )))|(((
1406 mv
1407 )))|(((
1408 20
1409 )))
1410 |(% style="width:61px" %)(((
1411 P5-4
1412 )))|(% style="width:194px" %)(((
1413 AI_1 zero drift
1414 )))|(((
1415 During running
1416 )))|(((
1417 Immediate
1418 )))|(((
1419 -500~~500
1420 )))|(((
1421 Automatic calibration zero drift inside the driver.
1422 )))|(((
1423 mv
1424 )))|(((
1425 0
1426 )))
1427 |(% style="width:61px" %)(((
1428 P5-5
1429 )))|(% style="width:194px" %)(((
1430 AI_2 input bias
1431 )))|(((
1432 During running
1433 )))|(((
1434 Immediate
1435 )))|(((
1436 -5000~~5000
1437 )))|(((
1438 Set AI_2 channel analog offset value
1439 )))|(((
1440 mv
1441 )))|(((
1442 0
1443 )))
1444 |(% style="width:61px" %)(((
1445 P5-6
1446 )))|(% style="width:194px" %)(((
1447 AI_2 Input filter constant
1448 )))|(((
1449 During running
1450 )))|(((
1451 Immediate
1452 )))|(((
1453 0~~60000
1454 )))|(((
1455 AI_2 channel input first-order low-pass filtering time constant
1456 )))|(((
1457 ms
1458 )))|(((
1459 200
1460 )))
1461 |(% style="width:61px" %)(((
1462 P5-7
1463 )))|(% style="width:194px" %)(((
1464 AI_2 dead zone
1465 )))|(((
1466 During running
1467 )))|(((
1468 Immediate
1469 )))|(((
1470 0~~1000
1471 )))|(((
1472 Set AI_1 channel analog dead zone value
1473 )))|(((
1474 mv
1475 )))|(((
1476 20
1477 )))
1478 |(% style="width:61px" %)(((
1479 P5-8
1480 )))|(% style="width:194px" %)(((
1481 AI_2 zero drift
1482 )))|(((
1483 During running
1484 )))|(((
1485 Immediate
1486 )))|(((
1487 -500~~500
1488 )))|(((
1489 Automatic calibration zero drift value inside the driver
1490 )))|(((
1491 mv
1492 )))|(((
1493 0
1494 )))
1495 |(% style="width:61px" %)(((
1496 P5-9
1497 )))|(% style="width:194px" %)(((
1498 Analog 10V for speed value
1499 )))|(((
1500 At stop
1501 )))|(((
1502 Immediate
1503 )))|(((
1504 1000~~4500
1505 )))|(((
1506 Set the speed value corresponding to analog 10V
1507 )))|(((
1508 rpm
1509 )))|(((
1510 3000
1511 )))
1512 |(% style="width:61px" %)(((
1513 P5-10
1514 )))|(% style="width:194px" %)(((
1515 Analog 10V for torque value
1516 )))|(((
1517 At stop
1518 )))|(((
1519 Immediate
1520 )))|(((
1521 0~~3000
1522 )))|(((
1523 Set the torque value corresponding to analog 10V
1524 )))|(((
1525 0.1%
1526 )))|(((
1527 1000
1528 )))
1529
1530 (% class="table-bordered" %)
1531 |=(((
1532 **Code**
1533 )))|=(((
1534 **Parameter Name**
1535 )))|=(((
1536 **Property**
1537 )))|=(((
1538 **Effective**
1539
1540 **Time**
1541 )))|=(((
1542 **Range**
1543 )))|=(((
1544 **Function**
1545 )))|=(((
1546 **Unit**
1547 )))|=(((
1548 **Default**
1549 )))
1550 |(((
1551 P4-4
1552 )))|(((
1553 Torque filter time constant
1554 )))|(((
1555 During running
1556 )))|(((
1557 Immediate
1558 )))|(((
1559 10~~2500
1560 )))|(((
1561 When [Auto-tuning mode] is set as 1, or 2, this parameter is set automatically
1562 )))|(((
1563 0.01
1564 )))|(((
1565 0.5
1566 )))
1567
1568 Take the analog voltage signal outputs by the host controller or other equipment as a speed reference.
1569
1570 **Operation flowchart of setting torque reference by analog voltage:**
1571
1572 (% style="text-align:center" %)
1573 [[image:1649921591828-681.png||class="img-thumbnail" height="1010" width="250"]]
1574
1575 flowchart of setting torque reference by analog voltage
1576
1577 **Zero drift:** value of the servo drive sampling voltage relative to GND when the input voltage of the analog channel is zero
1578
1579 **Offset:** input voltage value of the analog channel when the sampling voltage is zero after zero drift correction
1580
1581 **Dead zone:** input voltage range of the analog channel when the sampling voltage is zero
1582
1583 (% style="text-align:center" %)
1584 [[image:1649921598803-241.png||class="img-thumbnail" height="369" width="600"]]
1585
1586 Analog signal waveform after-offset
1587
1588 After completing the correct settings, user could view the input voltage values of AI_1 and AI_2 through [U0-21] and [U0-22]
1589
1590 **Relevant function codes:**
1591
1592 == **6.4.5 Torque Reference Filter** ==
1593
1594 In the torque mode, the servo drive could realize low-pass filtering of the torque command, which reduces the vibration of the servo motor.
1595
1596 **Relevant function codes:**
1597
1598 (% style="text-align:center" %)
1599 [[image:1649921605656-975.png||class="img-thumbnail" height="369" width="600"]]
1600
1601 Diagram of torque reference first-order filter
1602
1603 If the setting value of the filter time constant is too large, the responsiveness would be reduced. Please set it while confirming the responsiveness.
1604
1605 == **6.4.6 Torque Reference Limit** ==
1606
1607 When the absolute value of the torque reference input from the host controller or output by the speed regulator is larger than the absolute value of the torque reference limit, the actual torque reference of the servo drive is restricted to the torque reference limit. Otherwise, the torque reference input from the host controller or output by the speed regulator is used.
1608
1609 Only one torque reference limit is valid at a moment. Both positive and negative torque limits does not exceed the maximum torques of the servo drive and motor and ±300.0% of the rated torque.
1610
1611 (% style="text-align:center" %)
1612 [[image:1649921617358-189.png||class="img-thumbnail" height="358" width="700"]]
1613
1614 Torque setting and limit
1615
1616 == **6.4.7 Torque Limit Source** ==
1617
1618 (% class="table-bordered" %)
1619 |=(((
1620 **Code**
1621 )))|=(% style="width: 180px;" %)(((
1622 **Parameter Name**
1623 )))|=(% style="width: 114px;" %)(((
1624 **Property**
1625 )))|=(% style="width: 134px;" %)(((
1626 **Effective**
1627
1628 **Time**
1629 )))|=(% style="width: 97px;" %)(((
1630 **Range**
1631 )))|=(% style="width: 273px;" %)(((
1632 **Function**
1633 )))|=(% style="width: 87px;" %)(((
1634 **Unit**
1635 )))|=(((
1636 **Default**
1637 )))
1638 |(((
1639 P1-14
1640 )))|(% style="width:180px" %)(((
1641 Torque limit source
1642 )))|(% style="width:114px" %)(((
1643 At stop
1644 )))|(% style="width:134px" %)(((
1645 Immediate
1646 )))|(% style="width:97px" %)(((
1647 0~~1
1648 )))|(% style="width:273px" %)(((
1649 0: Internal value
1650
1651 1: AI_2 analog input
1652 )))|(% style="width:87px" %)(((
1653 -
1654 )))|(((
1655 0
1656 )))
1657
1658 The torque limit source is set in[P1-14]. After the torque limit is set, the servo drive torque reference is restricted to be within the torque limit. After the torque reference reaches the limit, the motor runs according to the torque limit. The torque limit must be set according to the load conditions. If the setting is very small, it may cause longer acceleration/decelleration time of the motor, and the actual motor speed may not reach the required value at constant speed running.
1659
1660 **Relevant code:**
1661
1662 When [P1-14]= 0: internal torque limit
1663
1664 The torque reference limit value is determined by the internal function codes [P1-15] and [P1-16]
1665
1666 **Relevant code:**
1667
1668 (% class="table-bordered" %)
1669 |=(% style="width: 65px;" %)(((
1670 **Code**
1671 )))|=(% style="width: 202px;" %)(((
1672 **Parameter Name**
1673 )))|=(% style="width: 73px;" %)(((
1674 **Property**
1675 )))|=(% style="width: 114px;" %)(((
1676 **Effective Time**
1677 )))|=(% style="width: 75px;" %)(((
1678 **Range**
1679 )))|=(% style="width: 438px;" %)(((
1680 **Function**
1681 )))|=(((
1682 **Unit**
1683 )))|=(((
1684 **Default**
1685 )))
1686 |(% style="width:65px" %)(((
1687 P1-15
1688 )))|(% style="width:202px" %)(((
1689 Forward rotation torque limit
1690 )))|(% style="width:73px" %)(((
1691 during
1692 )))|(% style="width:114px" %)(((
1693 Immediate
1694 )))|(% style="width:75px" %)(((
1695 0~~3000
1696 )))|(% style="width:438px" %)(((
1697 When [P1-14] selects internal torque limit, this function code value is used as the forward torque limit value
1698 )))|(((
1699 0.1%
1700 )))|(((
1701 3000
1702 )))
1703 |(% style="width:65px" %)(((
1704 P1-16
1705 )))|(% style="width:202px" %)(((
1706 Reverse torque limit
1707 )))|(% style="width:73px" %)(((
1708 during
1709 )))|(% style="width:114px" %)(((
1710 Immediate
1711 )))|(% style="width:75px" %)(((
1712 0~~3000
1713 )))|(% style="width:438px" %)(((
1714 When [P1-14] selects internal torque limit, this function code value is used as the reverse torque limit value
1715 )))|(((
1716 0.1%
1717 )))|(((
1718 3000
1719 )))
1720
1721 == **6.4.8 Torque Limit DO Signal** ==
1722
1723 When the torque reference reaches the torque limit value, the driver outputs a torque limit signal (138-T-LIMIT torque limit) to the host controller and determines the DO terminal logic.
1724
1725 **Relevant code:**
1726
1727 (% class="table-bordered" %)
1728 |=(% style="width: 89px;" %)**Code**|=(% style="width: 220px;" %)**Parameter Name**|=**Property**|=(((
1729 **Effective**
1730
1731 **Time**
1732 )))|=**Range**|=**Function**|=**Unit**|=**Default**
1733 |(% style="width:89px" %)P6-26|(% style="width:220px" %)DO_1 function selection |During running|Power on again|128~~142|138-T-LIMIT torque limit|-|138
1734
1735 == **6.4.9 Torque related DO output function** ==
1736
1737 The feedback value of the torque reference is compared with different thresholds, and the DO signal could be output to the host controller to use. Assign the DO terminals of the servo drive to different functions and set the valid logic.
1738
1739 Torch reach signal
1740
1741 (% style="text-align:center" %)
1742 [[image:1649921631575-959.png||class="img-thumbnail" height="414" width="600"]]
1743
1744 Torch reach signal waveform
1745
1746 **Relevant function code:**
1747
1748 (% class="table-bordered" %)
1749 |=(% style="width: 66px;" %)(((
1750 **Code**
1751 )))|=(% style="width: 134px;" %)(((
1752 **Parameter Name**
1753 )))|=(((
1754 **Property**
1755 )))|=(((
1756 **Effective**
1757
1758 **Time**
1759 )))|=(((
1760 **Range**
1761 )))|=(((
1762 **Function**
1763 )))|=(((
1764 **Unit**
1765 )))|=(((
1766 **Default**
1767 )))
1768 |(% style="width:66px" %)(((
1769 P5-20
1770 )))|(% style="width:134px" %)(((
1771 Torque reached threshold
1772 )))|(((
1773 During running
1774 )))|(((
1775 Immediate
1776 )))|(((
1777 0~~300
1778 )))|(((
1779 The torque reached threshold needs to be used in conjunction with [torque reached hysteresis value]:
1780
1781 When the actual torque reaches [torque reached threshold] + [torque reaches hysteresis], the torque reached DO becomes effective.
1782
1783 When the actual torque decreases below [Torque reached threshold] + [Torque reached hysteresis], the torque reached DO becomes invalid.
1784 )))|(((
1785 %
1786 )))|(((
1787 100
1788 )))
1789 |(% style="width:66px" %)(((
1790 P5-21
1791 )))|(% style="width:134px" %)(((
1792 Torque reached hysteresis
1793 )))|(((
1794 During running
1795 )))|(((
1796 Immediate
1797 )))|(((
1798 10~~20
1799 )))|(((
1800 [Torque reached hysteresis value] Need to be used together with [Torque reached threshold]
1801 )))|(((
1802 %
1803 )))|(((
1804 10
1805 )))
1806 |(% style="width:66px" %)(((
1807 P6-26
1808 )))|(% style="width:134px" %)(((
1809 DO_1 function selection
1810 )))|(((
1811 During running
1812 )))|(((
1813 Immediate
1814 )))|(((
1815 128~~142
1816 )))|(((
1817 138-T-COIN Torch reach
1818 )))|(((
1819 -
1820 )))|(((
1821 138
1822 )))