Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Chapter 8 Details of functional 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 rate = Actual load torque of motor Ч100% Rated torque of motor 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 paid to the resolution of the motor encoder. 2: This value may have more than five bits, and the shift key can be used to view the bit values. 3: The counting method and out-of-limit handling according to d0-04 shall apply. 4: When the servo activation is OFF, this parameter will be automatically set to zero. The external pulse frequency currently collected is displayed, which is only useful in the position control mode.
110 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 d0-08 Frequency of external pulses received Initial value 0.00 Communication address 2008H Unit kHz Category Display Scope -10000.00~10000.00 Format Decimal Data size 32bit Control mode P d0-10 Position deviation Initial value 0 Communication address 200AH