Table of Contents
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CHAPTER 4 CONTROL MODE .............................................................................................................................. 107
............................................................................................................................................... 108
4.1.1 Pulse input and direction settings ............................................................................................................ 109
4.1.2 Electronic Gear Ratio................................................................................................................................ 110
4.1.3 Position command filter ........................................................................................................................... 111
4.1.4 Encoder feedback output ......................................................................................................................... 113
4.1.5 Positioning completed INP signal output ................................................................................................. 113
............................................................................................................................................... 115
4.2.1 Velocity command input control .............................................................................................................. 116
4.2.2 Velocity command acceleration/deceleration ......................................................................................... 118
4.2.3 Velocity reached signal AT-SPEED output ................................................................................................ 119
4.2.4 Velocity coincidence V-COIN signal output .............................................................................................. 119
4.2.5 Zero Speed Clamp .................................................................................................................................... 120
................................................................................................................................................ 121
4.3.1 Torque command input control ............................................................................................................... 122
4.3.2 Torque velocity limit ................................................................................................................................. 123
4.3.3 Torque limit (TL-SEL) ................................................................................................................................ 124
CHAPTER 5 APPLICATION CASE .......................................................................................................................... 126
............................................................................................................................................... 126
5.4.1 Parameters adjustment under different control modes........................................................................... 137
5.4.2 Gain switching .......................................................................................................................................... 139
5.5 3
............................................................................................................................................. 143
............................................................................................................................................. 145
5.7.1 Velocity feedforward ................................................................................................................................ 145
5.7.2 Torque feedforward ................................................................................................................................. 146
............................................................................................................................................... 149
5.9.1 Max. motor rotational speed limitation ................................................................................................... 149
5.9.2 Max. duration for motor to stop after disabling ...................................................................................... 150
5.9.3 External brake deactivation output signal BRK-OFF ................................................................................ 150
5.9.4 Servo stopping mode ................................................................................................................................ 152
5.9.5 Emergency stop function .......................................................................................................................... 152
5.10.1 Mechanical resonance suppression ....................................................................................................... 153
5.10.2 End vibration suppression ...................................................................................................................... 157
5.11.1 Parameters setting ................................................................................................................................. 158
5.11.2 Read absolute position ........................................................................................................................... 159
5.11.3 Absolute Encoder Related Alarm............................................................................................................ 161
....................................................................................................................................... 125
................................................................................................................. 128
....................................................................................................................................... 131
................................................................................................................................... 135
................................................................................................................................ 144
........................................................................................................................ 148
..................................................................................................................................... 153
........................................................................................................................... 158
........................................................................................................................ 162
User Manual of iSV2-RS Integrated Servo
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