Chapter 8 Detailed description of function parameters 8.1 d0-xx General monitoring parameters Monitoring parameters are used to view the status of a servo driver and cannot be modified Current actual rotating speed of the servo motor, accurate to 1rpm. A negative number suggests reverse rotation of the motor (defined by P0-01) The ratio of the current motor's load torque and rated torque is displayed. A negative number suggests reverse rotation of the motor. Motor load ratio = actual load torque of motor/rated torque of motor *100% In the position mode, the total count of pulses sent by the upper computer to the servo is only useful in the position control mode. 1:
This value is the count of external pulses that are actually received without frequency division/multiplication of the electronic gear ratio. 2: This value may have more than five bits, and the shift key can be used to view the bit values. 3: This value refers to the count of continuous command pulses in the forward direction, and increases in the forward direction; when the command direction changes to the opposite, the value will continue to reduce to zero and then increase in the negative direction. 4: If the count of pulses received exceeds the above range, the value will restart from the maximum value in the opposite direction. 5:
When the servo activation is OFF, this parameter will be automatically set to zero. The total count of pulses for command pulse-based revolutions of the servo motor is displayed, which is only useful in the position control mode. 1: This value is the count of position command pulses obtained after electronic gear ratio reversing of encoder feedback pulses. 2: This value may have more than five bits, and the shift key can be used to view the bit values. 3: This value increases in the forward direction when the motor continuously rotate forward; when the motor changes the rotating direction, the value will continue to reduce to zero and then increase in the reverse direction. 4:
If the count of feedback pulses exceeds the above range, the value will restart from the maximum value in the opposite direction. 5: When the servo activation is OFF, this parameter will be automatically set to zero. The total count of pulses for encoder resolution-based revolutions of the servo motor is displayed, which is only useful in the position control mode. 1:
This value refers to the actual count of encoder feedback pulses, and shall be used with special attention 95 Technical Manual for EA190 Series Servo Driver V100 d0-00 Motor speed Initial value 0 Communication address 2000H Unit rpm Category Display Scope -6000~6000 Format Decimal Data size 16bit Control mode P S T d0-01 Motor load rate Initial value 0.0 Communication address 2001H Unit % Category Display Scope -500.0~500.0 Format Decimal Data size 16bit Control mode P S T d0-02 Total count of external pulses acquired Initial value 0 Communication address 2002H Unit Pulse Category Display Scope -2147483647~2147483647 Format Decimal Data size 32bit Control mode P d0-04 Total count of feedback pulses (command pulse unit) Initial value 0 Communication address 2004H Unit Pulse Category Display Scope -2147483647~2147483647 Format Decimal Data size 32bit Control mode P d0-06 Total count of feedback pulses (encoder unit) Initial value 0 Communication address 2006H Unit PUL Category Display Scope -2147483647~2147483647 Format Decimal Data size 32bit Control mode P