SD710 Series Servo Drive User Manal Chapter 11 Communication
81
In velocity profile mode, it takes effect immediately.
When the parameter is set to 0, it is forced to 1 internally by the software.
Object 6084h
PP
PV
Index
6084
h
Name
Profile Deceleration Time (Profile Deceleration)
Structure
VAR
Data Type
Uint32
Range
Uint32
Mapping Option
Y
Accessibility
RW
Default
200
Description
Sets the deceleration in the profile position mode and the profile speed mode. Unit: Command
unit/S
2
.
In position profile mode, the change is effective before this segment command is triggered;
after this segment command is triggered, it is effective when the current segment is finished
running.
In speed profile mode, it is effective immediately.
When the parameter is set to 0, it is forced to 1 internally by the software.
Object 6086h
Index
6086
h
Name
Type of Motor Operation Curve
Structure
VAR
Data Type
Int16
Range
Int16
Mapping Option
Y
Accessibility
RW
Default
-
Description
Curve type of motor position command or speed command. 0 - linear
Object 6087h
PT
Index
6087
h
Name
Torque Slope Time (Torque Slope)
Structure
VAR
Data Type
Uint32
Range
0
～
65535
Mapping Option
Y
Accessibility
RW
Default
1000
Description
Sets the torque command acceleration in profile torque mode, which indicates the torque
command increment per second (0.1%/s).
The parameter will be forced to convert to 1 when set to 0.
Object 6091h
HM
CSP
PP
CSV
PV
CST
PT
Index
6091
h
Name
Gear Ratio
Structure
ARR
Data Type
Uint32
Range
Uint32
Mapping Option
Y
Accessibility
RW
Default
-
Description
The position factor is used to establish the proportional relationship between the user-specified
load displacement and the motor displacement:
Motor displacement (motor units) = load displacement (user units) × position factor
The position factor is set in relation to the mechanical reduction ratio, the parameters related to
the mechanical dimensions and the motor resolution.
