Appendix F Under torque mode, set up the parameters as below: The rotation speed of the servo can be selected via DI1 and DI2 under torque mode as follows. Note: The DI input signals of the servo drive can come from external hardware terminals (DI1 ~ DI8, EDI9 ~ EDI14) or software SDI1 ~ 14 (corresponding to bit 0 ~ bit13 of parameter P4-07), which are determined by P3-06. If the value of the corresponding bit of P3-06 is 1,the DI input signals come from software SDI (P4-07); If the vaue of the corresponding bit of P3-06 is 0,the DI input signals come from external hardware terminals (DI1 ~ DI8, EDI9 ~ EDI14). Question 4: How is the servo torque limited under CANopen mode ？ Answer:
Under CANopen mode, the servo torque is limited by external input terminals or P4-07 value of the servo drive when P1-01 servo parameter value is B and 10MC does not use DMC_SetTorque instruction to control the servo motion.
Under CANopen mode, set up the parameters as shown in the following table ： F-2 DVP-MC Operating Manual Servo parameter Function Parameter value Meaning P1-02 Enable/disable speed limit 1 Speed limit is enabled P2-10 DI1 terminal function setting 114 DI1 terminal is for the speed limit P2-11 DI2 terminal function setting 115 DI2 terminal is for the speed limit P1-09 Rotation speed of the servo 10000 (Unit:0.1r/min) The servo speed is set by users according to actual need. P1-10 Rotation speed of the servo 20000 (Unit: 0.1r/min) The servo speed is set by users according to actual need. P1-11 Rotation speed of the servo 30000 (Unit:
0.1r/min) The servo speed is set by users according to actual need. Servo parameter setting for switching Speed selection DI2 DI1 DI1 and DI2 on or off The servo runs at the speed specified by P1-09. P3-06=F,P4-07=1 0(off) 1(on) The servo runs at the speed specified by P1-10. P3-06=F,P4-07=2 1(on) 0(off) The servo runs at the speed specified by P1-11. P3-06=F,P4-07=3 1(on) 1(on) Servo Function Parameter value Meaning parameter P1-02 Enable/disable speed limit 10 Torque limit is enabled.
P2-10 DI1 terminal function setting 116 DI1 terminal is for the torque limit P2-11 DI2 terminal function setting 117 DI2 terminal is for the torque limit P1-12 The torque limit of the servo 10 (Unit:%, percentage of the rated torque) The servo torque is set by users according to actual need.