Parameter functions: Set the standards for positioning approach and completion. When the position deviation count is smaller than the set value of P1-23, output of the DO terminal set to positioning approach (PNEAR) will be valid. When the position deviation count is smaller than the set value of P1-24, and the condition selected by P1-22 is satisfied, output of the DO terminal set to positioning completion (COIN) will be valid. Parameter functions: Set the lasting time when P1-22 = 3, 4, 5 or 6. Parameter functions: Respectively set the forward and reverse soft limit positions. When these two parameters have the maximum set values, i.e.
the set value is +2147483647 or -2147482647, corresponding position detection is invalid. If pulses are counted as of power-on of the driver, the result is the value of d0-34 (command unit)/d0-36 (encoder unit). When the value is equal to or greater than the set value of P1-26 or equal to or smaller than the set value of P1-28, it is deemed that the motor has run out of the limits, and a servo overrun warning will occur. Output of the DO terminal defined as WARN is valid, the LED displays or , and the motor stops according to setting of P0-08. Parameter functions:
In the position mode, additional increase/decrease of pulses being executed can be triggered by terminals set to the PUL-UP (35) or PUL-UP (36) function. P1-30 : Set start of pulse increase/decrease in command pulses from the rising edge of PUL-UP/PUL-DN. The increased/decreased command pulses will be evenly executed during the time set by P1-31. The valid edge of the PUL-UP terminal indicates increase, and the valid edge of the PUL-DN terminal indicates decrease. P1-31: Command pulses set by P1-30 will be evenly and fully executed within the time set by this parameter.
116 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1.The default setting unit is a command unit, but the encoder unit can be changed via P8-18 bit3. 2.When the encoder unit is selected and used, it is required to set a proper value based on the encoder resolution; or otherwise positioning completion may require a longer time.
P1-25 INP holding time Initial value 10 Communication address 0119H Unit ms Time of taking effect With immediate effect Setting range 0~3000 Data size 16bit Control mode P P1-26 Forward limit position Initial value 2147483647 Communication address 011AH Unit ppr Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P S T P1-28 Reverse limit position Initial value -2147483647 Communication address 011CH Unit ppr Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P S T Caution☞ The default setting unit is a command unit, and the encoder unit can be changed via P8-18 bit3 (in this case, a proper value shall be set based on the resolution).
P1-30 Pulse deviation Initial value 100 Communication address 011EH Unit Pulse Time of taking effect With immediate effect Setting range 0~65535 Data size 16bit Control mode P S T P1-31 Execution time of pulse deviation Initial value 100 Communication address 011FH Unit ms Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P S T