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DYN2MS-02F-0116A17
■ EXAMPLE 9
Condition:
Read servo motor absolute position
Method:
Call ReadMotorPosition32() subroutine function
Motor position stored in Motor_Pos32 variable as:
Motor_Pos32 = (long) [ -2^27 : 2^27-1 ] = [ -134,217,728 : 134,217,727 ]
7.7 Application
Examples
■ EXAMPLE 10
Condition:
Read servo motor torque current
Method:
Call ReadMotorTorqueCurrent() subroutine function
Motor torque current stored in MotorTorqueCurrent variable as:
MotorTorqueCurrent = (short) [ -2^15 : 2^15-1 ] = [−32,767 : 32,766 ]
MotorTorqueCurrent represents a relative number according to the RMS current output by servo drive. This
value is different between each servo motor capacity and varies between the DYN2 and DYN4 servo drive.
The customer can measure the change in MotorTorqueCurrent variable to monitor relative current draw. Use
servo motor torque constant specification to calculate torque output.
The following three examples makes use of the sample code in
Section
7.7A Appendix : C++ Code for Serial
Communication Protocol
. All contents of the sample code must be copied to the program.
■ EXAMPLE 11
Condition:
Read servo drive Main Gain parameter
Method:
Call
ReadMainGain()
subroutine function
DYN drive Main Gain stored in
MainGain_Read
variable
Use the same subroutine format for all Parameter Read functions 0x18~ 0x1f.
