User Manual of ELD2-CAN DC Servo
7
3.2.3
【
Class 2
】
Vibration Suppression .............................................................................................................. 56
3.2.4
【
Class 3
】
Velocity/ Torque Control .......................................................................................................... 61
3.2.5
【
Class 4
】
I/O Interface Setting ................................................................................................................. 63
3.2.6
【
Class 5
】
Extension settings .................................................................................................................... 69
3.2.7
【
Class 6
】
Other settings........................................................................................................................... 73
3.3 402 PARAMETERS FUNCTION ................................................................................................................................... 77
CHAPTER 4 CONTROL MODE ................................................................................................................................ 89
4.1 PROFILE POSITION MODE ........................................................................................................................................ 89
4.1.1 Pulse ........................................................................................................................................................... 89
4.1.2 Motion settings .......................................................................................................................................... 89
4.1.3 Monitoring settings .................................................................................................................................... 90
4.1.4 Applications example ................................................................................................................................. 90
4.2 PROFILE VELOCITY MODE ......................................................................................................................................... 91
4.2.1 Motion Settings .......................................................................................................................................... 91
4.2.2 Monitoring settings .................................................................................................................................... 91
4.3 PROFILE TORQUE MODE .......................................................................................................................................... 92
4.3.1 Motion Settings .......................................................................................................................................... 92
4.3.2 Monitoring settings .................................................................................................................................... 92
4.4 HOMING MODE ...................................................................................................................................................... 93
4.4.1 Motion Settings .......................................................................................................................................... 93
4.4.2 Monitoring settings .................................................................................................................................... 93
4.4.3 Homing mode ............................................................................................................................................. 94
4.5 EMERGENCY STOP ................................................................................................................................................ 119
4.5.1 Motion Settings ........................................................................................................................................ 119
4.5.2 Monitoring settings .................................................................................................................................. 119
CHAPTER 5 APPLICATIONS ................................................................................................................................. 120
5.1 TRIAL RUN .......................................................................................................................................................... 120
5.2 INERTIA RATIO MEASURING .................................................................................................................................... 121
5.3 NOTCH FILTER (VIBRATION SUPPRESSION) ................................................................................................................ 123
5.4 AUTO GAIN ADJUSTMENT ....................................................................................................................................... 125
5.5 3RD GAIN SWITCHING ............................................................................................................................................. 127
5.6 FRICTION COMPENSATION FUNCTION ........................................................................................................................ 129
5.7 REGENERATIVE RESISTOR SETTINGS .......................................................................................................................... 130
5.8 SAFETY FUNCTIONS ............................................................................................................................................... 131
5.8.1 Max. motor rotational speed limitation ................................................................................................... 131
5.8.2 Max. duration for motor to stop after disabling ...................................................................................... 131
5.8.3 External brake deactivation output signal BRK-OFF ................................................................................ 132
5.8.4 Servo stopping mode ................................................................................................................................ 133
5.8.5 Emergency stop function .......................................................................................................................... 134
5.9 MULTITURN ABSOLUTE ENCODER ............................................................................................................................ 135
5.9.1 Parameter settings ................................................................................................................................... 135
5.9.2 Read absolute position ........................................................................................................................ 136
5.9.3 Absolute Encoder Related Alarm .............................................................................................................. 138