Appendix F Under CANopen mode, the torque limit of the servo can be selected via DI1 and DI2 when motion instructions are used to control the servo motion as follows ： Notes: 1. The setting value of P4-07 could not be 0 for limiting torque in the above table. If the setting value is 0, 10MC will not be able to control the servo motion. The above parameter setting causes inconvenience that the values of P3-06 and P4-07 have to be reset every time the servo is powered on. There is an easy method of setting the parameter by setting P2-10 to 016, P2-11 to 017 and P3-06 to 0 (without external wiring for DI1 and DI2) and the output torque limit of the servo to the value of P1-14.
By doing so, the value of P3-06 will not need to be reset and will be 0 by default after the servo is repowered on. 2. The DI input signals of the servo drive can come from external hardware terminals (DI1 ~ DI8, EDI9 ~ EDI14) or software digital inputs SDI1 ~ 14 (corresponding to bit 0 ~ bit13 of parameter P4-07), which is determined by P3-06. If the corresponding bit value of P3-06 is 1, the DI input signals come from SDI (P4-07). And the corresponding bit value of P3-06 is 0, the DI input signals come from external hardware terminals (DI1 ~ DI8, EDI9 ~ EDI14). Question 5: How does the servo move when reaching a limit under DVP10MC11T’s control? Answer:
You can judge whether the servo reaches a limit or not via MC_ReadAxisError. MC_Reset is executed first and then MC_Power is executed to make the servo enabled and move in the negative direction when the servo reaches a limit The servo can move in the negative direction rather than in the positive direction after the above operation is performed if the servo limit alarm is not eliminated. The servo can move in both positive and negative directions after the above operation is performed if the servo limit alarm is eliminated. Program example:
MC_Reset instruction is executed when 10MC detects that the servo reaches the positive limit and MC_Power instruction is executed to make the servo enabled 100ms later. MC_MoveRelative instruction is executed to make the servo move reversely away from the positive limt after the servo is enabled. DVP-MC Operating Manual F-3 Servo Function Parameter value Meaning parameter P1-13 The torque limit of the servo 20 (Unit:%, percentage of the rated torque) The servo torque is set by users according to actual need. P1-14 The torque limit of the servo 50 (Unit:%, percentage of the rated torque) The servo torque is set by users according to actual need.
Servo parameter setting for switching Torque selection DI2 DI1 DI1 and DI2 on or off The servo runs according to the torque limit specified by P1-12. P3-06=F，P4-07=1 0（off） 1（on） The servo runs according to the torque limit specified by P1-13. P3-06=F，P4-07=2 1（on） 0（off） The servo runs according to the torque limit specified by P1-14. P3-06=F，P4-07=3 1（on） 1（on）