User Manual of EL6-CAN AC Servo
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6.6 Common Functions for All Modes
6.6.1 Motor Rotation Direction
The Rotation Direction is defined in 607Eh.
Mode
Value
Position
mode
PP
HM
0
：
Rotate in the same direction as the position command
128
：
Rotate in the opposite direction as the position command
Velocity
mode
PV
0
：
Rotate in the same direction as the position command
64
：
Rotate in the opposite direction as the position command
Torque
mode
PT
0
：
Rotate in the same direction as the position command
32
：
Rotate in the opposite direction as the position command
ALL
mode
0
：
Rotate in the same direction as the position command
224
：
Rotate in the opposite direction as the position command
6.6.2 Drive Stop
If the 6085h is not 0, the 6085h object will be used as the deceleration speed for quick stop. If the 6085h
is 0, the servo will be stopped quickly according to the maximum current limit.
The emergency stop when meet limit switch, motor will stop rapidly according to the maximum current
limit.
When the state machine is switched to an enable state the motor will stop freely. When bit8(Halt) of
6040h is 1, the motor will stop with deceleration set in 6084h.
6.6.3 Electronic Gear Ratio
EL6-CAN position mode include protocol position mode (PP) and homing mode (HM), only in these two
modes does the electronic gear ratio valid.
Electronic gear ratio range is 1/1000~8000, otherwise ErA00 warning will appear (the warning is not
saved, after modification to a reasonable range, the l alarm showing in operation pane will disappear
automatically, but the 402 state will still be in the "error" state, write 0x80 into 6040h to reset.
The electronic gear ratio setting is defined by 608Fh(Position encoder resolution),6091h(Gear ratio) and
6092h(Feed constant), which can only be effectively changed in the pre-operational state.
608Fh(Position encoder resolution) is the resolution of the encoder, which is read internally without
additional setting. 6092h_01 represents the number of pulses that can be set for each rotation of the motor.
6091h_01/6091h_02 is real-time update effective.
The electronic gear subdivision method can be determined by modifying 6092h_01(Feed constant)
The subdivision method of electronic gear can be determined by modifying 6092h_01(Feed constant) .
1
、
If 6092h_01(Feed constant) is not equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = encoder resolution / 6092h_01
2
、
If 6092h_01(Feed constant) is equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = 6091h_01/6091h_02
Electronic gear ratio range is 1/1000~8000.
Note:
when the setting value exceeds this range, the error will be reported and automatically reset to the
