Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: Set the acceleration and deceleration time for homing. Acceleration time refers to the time required to accelerate from speed 0 to the rated motor speed. Deceleration time refers to the time required to decelerate from the rated motor speed to the speed 0. Parameter functions: Upon execution of homing, if the user desires some deviation of the motor stop position from the reference point, this parameter can be used to set pulses of the deviation. Caution ☞ The count of pulses set by Pb-08 corresponds to a command pulse unit. Parameter functions:
This parameter is used to set the current position of the motor when homing is completed. When homing is completed, the set value of Pb-10 becomes the value of parameter d0-34. The value of d0-36 is obtained through electronic gear conversion of d0-34. Caution ☞ The count of pulses set by Pb-10 corresponds to a command pulse unit. Parameter functions: This parameter can be used to set the deviation of the electrical zero point from the mechanical origin when the motor stop position is the mechanical origin upon completion of homing.
For the absolute value system, after the electrical zero point is set, all position commands subsequently received will take the electrical zero point as the reference starting position. It shall be specially noted that data referenced upon setting the electrical zero point shall be the motor encoder position comprising d0-29 and d0-30, other than data of d0-36. The electrical zero point is based on absolute position data of the encoder. Therefore, the electrical zero point is fixed unless the following operations are performed.
◼ Set another value for Pb-12 ◼ Re-execute homing ◼ Execute the “Clear multiple-turn data of encoder” operation (AF-16=2) For an incremental system, the electrical zero point can also be taken as the reference starting position. However, when the system is powered off and then powered on again, the electrical zero point will deviate from the motor position upon power-on by Pb-12. Caution ☞ The count of pulses set by Pb-12 corresponds to an encoder pulse unit. Parameter functions: Set the maximum output torque upon homing in the mode 31 or 32. 1. This parameter is dedicated for homing in mode 31 or 32. It is required to use P8-14, P8-15 and P8-16 in combination. 2.
If the motor locked rotor protection function (P8-15=0) is not enabled or though the function is enabled (P8-15≠0), parameter P8-15 is set improperly (P8-15≥Pb-04 or P8-14≥Pb-14), the driver will give a or alarm.
Caution ☞ 232 Pb-05 Acceleration and deceleration time for homing Initial value 100 Communication address 0B05H Unit ms Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P Pb-08 Pulses of homing deviation Initial value 0 Communication address 0B08H Unit Pulse Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P Pb-10 Position upon homing completion Initial value 0 Communication address 0B0AH Unit Pulse Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P Pb-12 Offset of the absolute position from the electrical origin Initial value 0 Communication address 0B0CH Unit PUL Time of taking effect Taking effect upon power-on again Setting range -2147483647~2147483647 Data size 32bit Control mode P Pb-14 Locked-rotor torque limit for homing Initial value 50.0 Communication address 0B0EH Unit % Time of taking effect With immediate effect Setting range 0.0~150.0 Data size 16bit Control mode P S T