Delta DVP-10PM, Руководство по применению

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3
Functions of Devices in DVP-PM
DVP-PM Application Manual
3-66
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070
Zero Return Deceleration Speed V
CR
1. Range: 0 ~ +2,147,483,647; the unit is set by b0 and b1 of D1816 (D1896, D1976, D2056).
2.
V
CR
should be specified within the valid speed range of motion instructions: 10 ~ 500kPPS. If the value is bigger
than 500k, the output will be set as 500k; if the value is smaller than 10, the output will be set as 10.
3. When zero return is executed, the motor will operate at zero return speed V
RT
. When DOG signal is triggered, the
motor will decelerate to zero return deceleration speed V
CR
.
4. To perform precise positioning result at zero point, we suggest you set up V
CR
in low speed.
5. V
CR
cannot be modified during the execution.
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1832 D1912 D1992 D2072
Number of Zero Point Signals (PG0) (N)
1. Range: -32,768 ~ 32,767 (pulse). Positive values indicate the number of positive PG0 signals (N). Negative
values indicate the number of negative PG0 signals (N).
2. For details about the reference signals for zero return (N, P), please refer to explanations of b9, 10 (zero return
mode) of D1816 (D1896, D1976, D2056).
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1833 D1913 D1993 D2073
Number of Pulses for Zero Return (P)
1. Range: -32,768 ~ 32,767 (pulse). Positive values indicate the number of positive zero return pulses (P). Negative
values indicate the number of negative sero return pulses (P).
2. For details about the reference signals for zero return (N, P), please refer to explanations of b9, 10 (zero return
mode) of D1816 (D1896, D1976, D2056)
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074
Definition of Zero Point (HP)
1. Range: 0 ~ ±999,999; the unit is set by b0 and b1 of D1816 (D1896, D1976).
2. After zero return is completed, current position (CP) will be updated with zero point (HP).
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1836 D1916 D1996 D2076
Acceleration Time T
ACC
1. T
ACC
is the time required from bias speed V
BIAS
(D1824, D1904, D1984, D2064) to maximum speed V
MAX
(D1822,
D1902, D1982, D2062).
2. If the value is smaller than 10ms, the output will be set as 10ms; if the value is biggler than 32767 ms, the output
will be set as 32,767 ms.
3. If you need a complete S curve, please set the operation speed (
V)
as maximum speed V
MAX
.