Parameter functions: Servo activation ON. Only after lapse of the time can position, speed and torque commands be received. Parameter functions: When the braking mode is set to zero-speed braking (by P0-08), this parameter defines the deceleration time after the activation OFF command is received or a second level alarm occurs. Parameter functions: The time required for the motor decelerating to stop when an overrun warning (P-OT, N-OT) occurs and P0-08 is set to zero-speed braking for overrun. Parameter functions: The time required for the motor decelerating to stop when the emergency stop terminal (EMGS) is active. Parameter functions: Set the meaning of parameter P0-21. P0-20 = 0 :
Count of A or B-phase pulses before P0-21 is set to quadruplicated frequency (for a 2,500ppr encoder, only this option is available) 109 Technical Manual for EA190 Series Servo Driver V100 P0-13 = 0 Activation ON is only possible in sections C and D. Namely the time interval is greater than P0-14, such as time ②. At time ①in the figure, activation ON is impossible. P0-13 = 1 Activation ON is only possible in sections B and C. Namely the motor speed is within P0-15, such as the actual rotating speed ①. Activation ON is impossible if the actual motor speed in the figure is at ②. P0-13 = 2 Activation ON is only possible when section C has S-ON.
Namely the time interval is greater than P0-14, and the actual speed is less than P0-15. P0-1 6 Activation ON - delay time of receiving command Initial value 200 Communicatio n address 0010H Unit ms Time of taking effect With immediate effect Setting range 0~500 Data size 16bit Control mode P S T Caution☞ For vertical shaft or other application scenarios with similar external force, as the motor has a holding brake, after the servo is activated, it is required to first power on the motor, and then turn on the brake control terminal to release the holding brake.
As the relay, intermediate relay and holding brake require some time to act, it is required to properly set the time to prevent the motor starting operation following commands without assured release of the holding brake, thereby resulting in abnormalities.
P0-17 Deceleration time for zero-speed braking Initial value 200 Communicatio n address 0011H Unit ms Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P S T P0-18 Deceleration time of overrun protection Initial value 200 Communicati on address 0012H Unit ms Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P S T P0-1 9 Deceleration time for emergency stop Initial value 50 Communicati on address 0013H Unit ms Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P S T Caution☞ If the deceleration time above is set too short, an alarm is likely to occur, resulting in entry of the motor into the free state.
For this consideration, the parameter shall be properly set with care based on the actual conditions. P0-20 Definition of pulse output setting value Initial value 0 Communicati on address 0014H Unit - Time of taking effect Taking effect upon power-on again Setting range 0~1 Data size 16bit Control mode P S T