Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: P1-04~P1-12 is used to set the electronic gear ratio, which is valid when P1-02=0. Parameters P1-08, P1-10 and P1-12 are only useful when switching of the electronic gear ratio is required. Relation between P1-02, P1-04 and P1-06 (P1-08, P1-10 and P1-12 have the similar function with P1-04) Note: The position commands in the table refer to the encoder unit. For example, if P1_02 is set as 10,000 and the motor encoder is of 23 bits, i.e.
1 round equals 8,388,608 pulses, the number of commands converted to encoder pulses will be 100Ч 8,388,608/10,000= 83,886.08 when the number of command pulses is 100, and the motor will rotate for 83,886.08/8,388,608=0.1=36°. When multiple different electronic gear ratios need to be used, Communication may be relied upon for online modification of P1-04 and P1-06 (RAM address shall be used; or otherwise damage can be easily caused to storage elements of the driver); The user may set two DI terminals to function No. 20 (GNUM0) and No.
21 (GNUM1), so as to realize switching through external DI input; in this case, the DI terminal status corresponds to the electronic gear ratio numerator as follows (0 means the terminal is inactive; 1 means the terminal is active): When an external terminal is used to switch the electronic gear ratio, the electronic gear denominator is a fixed value; so in this case, please carefully select a proper value for P1-06. 1. P1-02 and the electronic gear ratio are valid for both external pulse command and internal multi-segment position command. Caution ☞ 2. Setting range of the electronic gear ratio: 1/1000~64000/1. If the range is exceeded, the driver will give an alarm. 3.
You can multiply the calculation result of electronic gear ratio by the multiplier determined by the magnitude of analog using analog input via the P1-33 and 34 settings. But this is limited to the numerator/denominator method only. When P1- 02=0, the multiplier can’t be adjusted by analog. Parameter functions: Time constant for smoothing and filtering external pulse command signals. It is inactive when set to 0. This parameter is intended to smooth input pulse commands, but may cause command delay. It is generally used:
➢ when the upper computer does not have the acceleration/deceleration function; ➢ when the electronic gear ratio is high; ➢ when the command frequency is low; ➢ when stepping or instability occurs during motor operation. Caution ☞ To reduce vibration and other problems resulted from abrupt change to the command pulse frequency, the position FIR filtering (P5-23) function can be used.
134 P1-12 Electronic gear ratio numerator 4 Initial value 1 Communication address 010CH Unit - Time of taking effect With immediate effect Setting range 0~1073741824 Data size 32bit Control mode P P1-02 P1-04 P1-06 Command input and motor output - - 1~8388608 No effect No effect 0 0 1~1073741824 1~1073741824 1~1073741824 GNUM0 GNUM1 Valid electronic gear ratio numerator 0 0 P1-04 0 1 P1-08 1 0 P1-10 1 1 P1-12 P1-14 External pulse smoothing and filtering time Initial value 0.00 Communication address 010EH Unit ms Time of taking effect Taking effect upon power-on again Setting range 0.00~300.00 Data size 16bit Control mode P