Technical Manual for EA350 Analog Pulse Type Servo Driver V101 P1-22=6: When the prerequisite of the position command being 0 is satisfied: A. If the holding time P1-25≠0, the absolute value of position deviation is smaller than P1-24 and the motor has zero speed, then COIN output is valid. After the lapse of P1-25, whether COIN output is valid or invalid will depend on the relation between the position deviation and P1-24 then and zero speed of the motor. B. If the holding time P1-25=0, the absolute value of position deviation is smaller than P1-24 and the motor has zero speed, COIN output is valid and will constantly remain valid.
Once the position command is not zero, the COIN output will be immediately invalidated. After invalidation of COIN output, revalidation requires re-judgment. Caution ☞ This parameter applies only to DO set to positioning completion (COIN). It is invalid to DO of positioning approach (PNEAR). 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. Caution ☞ 1. The default setting unit is a command unit, but the encoder unit can be changed via P8-18 bit 3. 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. 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.
Caution ☞ The default setting unit is a command unit, and the encoder unit can be changed via P8-18 bit 3 (in this case, a proper value shall be set based on the resolution).
138 P1-23 Positioning approach width Initial value 20 Communication address 0117H Unit ppr Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P P1-24 Positioning completion width Initial value 10 Communication address 0118H Unit ppr Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P 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 P1-30 Pulse deviation Initial value 100 Communication address 011EH Unit Pulse Time of taking effect With immediate effect Setting 0~65535 Data size 16bit Control mode P S T