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Overview
Section 3-1
(demanded) movement profile in the MC Unit and the actual (measured) posi-
tion feedback from the Servomotor according to the control gain settings. In
open loop, a set speed reference value is outputted to the Servo Driver.
The torque control is achieved by outputting a set torque reference value to
the Driver. The axis is capable of switching between torque and speed control
during operation.
The servo axis for axis 1 can provide a second servo control loop to enable
dual feed-back control. More details can be found at the ADD_DAC command
description.
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Encoder Input Axis
The encoder input axis provides an axis which counts the position data from a
connected pulse generator such as a Servo Driver or an external encoder.
The encoder input axis can be used for for measurement, registration and/or
synchronisation functions.
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Encoder Output Axis
The encoder output axis provides a way of generating an encoder signal
which is cascaded to another device. The encoder signal is controlled by the
internal position of this axis.
All move commands and axis parameters available for the servo axis are
available.
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Virtual Axis
A virtual axis is used for computational purposes to create a move profile with-
out physical movement on any actual Servo Driver.
The virtual axis behaves like a perfect servo axis (measured position is equal
to the demand position). All move commands and axis parameters available
for the servo axis are available.
Using the Parameter Unit
or Front Panel
Apart from the MC Unit there are three ways of accessing the Servo Driver:
• Using the Front Panel on the Servo Driver.
• Using the Hand-held Parameter Unit of the Servo Driver.
• Using Servo Driver Monitoring Software on the personal computer.
These three methods enables the user to perform parameter settings, speed
and current monitoring, I/O monitoring, autotuning, jogging and other opera-
tions.
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Limitations on using Parameter Unit together with the MC Unit
If the MC Unit is mounted to the Servo Driver, it is not allowed to have the
Parameter Unit or the Servo Driver Software connected to the Servo Driver
when performing the following operations:
• During start-up of the system (either by power-up or software reset).
• During reading or writing Servo Driver parameters using commands
DRV_READ and DRV_WRITE.
• During execution of any Driver Command in the MC Unit such as
DRV_RESET and DRV_CLEAR.
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Front Panel Display Area
The Front Panel Display Area of the Servo Driver will not be lit in the following
circumstances.
Item
Specification
Input pulse multiplication
x4
Item
Specification
Output pulse ratio
64 : 1 (internal counts : output encoder pulses)
Z-marker period
4096 generated encoder edges