Encoder unit = command unit Ч electronic gear ratio For example, the default state upon use of a motor with a 17-bit encoder: As the electronic gear ratio = 131072/10000, the encoder unit = command unit Ч 131072/10000 P8-18 bit4: Reverse direction of speed command (speed mode) bit4 = 0: In case of a positive speed command, the motor rotates forward (forward direction is defined by P0-01). bit4 = 1: In case of a negative speed command, the motor rotates forward (forward direction is defined by P0-01). Parameter functions: P8-19 bit0: Zero servo switch upon activation OFF bit0 = 0:
When activation is set OFF, if P0-09 > P0-17, the motor will enter the zero servo state within the time set by P0.09-P0.17 (see description of P0-08 bit0 = 1); bit0 = 1: When the activation is set OFF, even if P0-09 > P0-17, the servo will not enter the zero servo state; when it decelerate to speed zero, the motor enters the free state. ( P8-19 bit1: Runaway detection function switch bit1 = 0: Turn on the runaway detection function; bit1 = 1: Turn off the runaway detection function. P8-19 bit2: Automatic restoration upon under-voltage of the encoder battery bit2 = 0:
When an absolute encoder is used, if an AL01A alarm occurs due to under-voltage of the encoder battery, the alarm will be automatically reset when the encoder is powered on again after replacement of the battery; bit2 = 1: alarm can only be reset by setting AF-16 to 1 or 2 (clear encoder fault information). P8-19 bit6: Set whether an AL048 alarm occurs when a locked rotor of the motor is detected bit6 = 0: After the motor locked rotor detection function is enabled by P8-15, if condition P8-14, P8-15 or P8-16 detects a locked rotor of the motor, the motor torque output will be limited according to the setting of P8-17 .
Based on the setting of P8-17, a alarm may happen sometime after rotor locking occurs; bit6 = 1: After the motor locked rotor detection function is enabled by P8-15, if condition P8-14, P8-15 or P8-16 detects a locked rotor of the motor, a or alarm will immediately occur Parameter functions: Set the output torque limit of the motor when the DC bus voltage of the driver is lower than 80%. See P8-18 bit0 for details. Parameter functions: When the independent circuit voltage restores to 90% of the rated voltage, the torque limit starts to restore the original value within this time. See P8-18 bit0 for details.
160 Technical Manual for EA190 Series Servo Driver V100 Caution☞ Settings of these four parameters are subject to this function:P1-18 position deviation following warning, P1-20 position deviation following alarm, P1-23 positioning approach width, P1-24 positioning completion width, d0-10 position deviation. P8-19 Function switch 2 Initial value 10B Communication address 0813H Unit - Time of taking effect With immediate effect Setting range 00B~11B Data size 16bit Control mode P S T Caution☞ Runaway detection is used to prevent runaway resulted from possible speed feedforward/feedback upon incorrect UVW connection.
It cannot be used when a vertical shaft and the motor may be dragged reversely. P8-22 Torque limit upon voltage drop of the main circuit Initial value 50.0 Communication address 0816H Unit ms Time of taking effect With immediate effect Setting range 1.0~100.0 Data size 16bit Control mode P S T P8-23 Lifting time of torque limit upon voltage drop of the main circuit Initial value 100 Communication address 0817H Unit ms Time of taking effect With immediate effect Setting range 10~1000 Data size 16bit Control mode P S T