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Wiki source code of 06 Control Mode

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