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User Manual of 2ELD2-CAN DC Servo
7
3.2.2
【
Class 1
】
Gain Adjustments ..................................................................................................................... 46
3.2.3
【
Class 2
】
Vibration Suppression .............................................................................................................. 53
3.2.4
【
Class 3
】
Velocity/ Torque Control .......................................................................................................... 58
3.2.5
【
Class 4
】
I/O Interface Setting ................................................................................................................. 62
3.2.6
【
Class 5
】
Extension settings .................................................................................................................... 67
3.2.7
【
Class 6
】
Other settings........................................................................................................................... 71
3.3 402 PARAMETERS FUNCTION ................................................................................................................................... 75
CHAPTER 4 CONTROL MODE ................................................................................................................................ 88
4.1 PROFILE POSITION MODE ........................................................................................................................................ 88
4.1.1 Pulse equivalence ....................................................................................................................................... 88
4.1.2 Motion settings .......................................................................................................................................... 88
4.1.3 Monitoring settings .................................................................................................................................... 89
4.2 PROFILE VELOCITY MODE ......................................................................................................................................... 90
4.2.1 Motion Settings .......................................................................................................................................... 90
4.2.2 Monitoring settings .................................................................................................................................... 90
4.3 PROFILE TORQUE MODE .......................................................................................................................................... 91
4.3.1 Motion Settings .......................................................................................................................................... 91
4.3.2 Monitoring settings .................................................................................................................................... 91
4.4 HOMING MODE ...................................................................................................................................................... 92
4.4.1 Motion Settings .......................................................................................................................................... 92
4.4.2 Monitoring settings .................................................................................................................................... 92
4.4.4 Homing mode ............................................................................................................................................. 93
4.5 EMERGENCY STOP ................................................................................................................................................ 118
4.5.1 Motion Settings ........................................................................................................................................ 118
4.5.2 Monitoring settings .................................................................................................................................. 118
4.6 VELOCITY CONTROL MODE - ANALOGUE INPUT CONTROL .............................................................................................. 119
4.6.1 Velocity command input control .............................................................................................................. 120
4.6.2 Velocity command acceleration/deceleration ......................................................................................... 121
4.6.3 Velocity reached signal AT-SPEED output ................................................................................................ 122
4.6.4 Velocity coincidence V-COIN signal output .............................................................................................. 123
4.6.5 Zero Speed Clamp .................................................................................................................................... 123
4.7 TORQUE CONTROL MODE - ANALOGUE INPUT CONTROL ................................................................................................ 124
4.7.1 Torque command input control ............................................................................................................... 125
4.7.2 Torque velocity limit ................................................................................................................................. 126
4.7.3 Torque limit (TL-SEL) ................................................................................................................................ 126
CHAPTER 5 APPLICATIONS ................................................................................................................................. 127
5.1 TRIAL RUN .......................................................................................................................................................... 127
5.2 INERTIA RATIO MEASURING .................................................................................................................................... 128
5.3 NOTCH FILTER (VIBRATION SUPPRESSION) ................................................................................................................ 130
5.4 AUTO GAIN ADJUSTMENT ....................................................................................................................................... 132
5.5 3RD GAIN SWITCHING ............................................................................................................................................. 134
5.6 FRICTION COMPENSATION FUNCTION ........................................................................................................................ 136
5.7 REGENERATIVE RESISTOR SETTINGS .......................................................................................................................... 137
5.8 SAFETY FUNCTIONS ............................................................................................................................................... 138