Specialized Concentrated Focused
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118
」
Appendix
Para.
No.
Abbr.
Name
Standard
Value
Setting
Range
Unit
Remark
encoder circle is 2000 shaft
coupling
direct
drag,
so
currently the numerator of the
electronic gear ratio is 8, and
the denominator is 5. (Select
incremental type encoder)
1-16
MENP
Pulse amount of the motor
encoder
1. Set the pulse amount of
the motor encoder;
2. Standard configuration
of the encoder pulse No.
is as below.
Incremental
encoder
omitting wiring: --2000P/R
Absolute
encoder:--2048P/R
500
to
65535
P/R
2-0
PMOD
Pulse format of position command:
Our system uses: direction + pulse format, the parameters are shown as
following:
PMOD
7
6
5
4
3
2
1
0
Bit
1
0
0
1
1
Bit
0
0
1
0
1
Command Pulse Input Digital Filter
Min. Pulse Width
0.8µs
0.2µs
0.4µs
1.6µs
When bit 7=0
Bit
1
0
0
1
1
Bit
0
0
1
0
1
Command Pulse Input Digital Filter
Min. Pulse Width
3.2µs
0.8µs
1.6µs
6.4µs
When bit 7=1
Bit6
Bit5
Command Pulse Format
Dir Pulse
1
0
0
High Speed
Low Speed (1/4)
1
Switch of Digital Filter
4-3
TYPE
Control mode:
*Select one control mode from position, velocity, and
torque modes.
6 types
Our
system
selects
position
control mode.