Leadshine EL7-EC Series, Руководство пользователя

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User Manual Of EL7-EC** AC Servo
116
Index
6087h
Label Torque slope Unit %1/s Structure VAR Type UInt 32
Access
R
W
Mapping RPDO Mode PT Range
1~2147
48364
7
Default 5000
To set values for tendency torque command
Index
608Fh-01
Label Encoder resolution Unit Encoder unit Structure VAR Type UInt 32
Access
R
0
Mapping
TPDO Mode F Range
1~2147
48364
7
Default 0
To set encoder resolution
Index
6091h-01
Label
Electronic gear ratio
numerator
Unit r Structure VAR Type Dint 32
Access RW Mapping RPDO Mode F Range
1-21474
83647
Defaul
t
1
To set electronic gear ratio numerator
Index
6091h-02
Label
Electronic gear ratio
denominator
Unit r Structure VAR Type Dint 32
Access RW Mapping RPDO Mode F Range
1-21474
83647
Defaul
t
1
To set electronic gear ratio denominator
Index
6092h-01
Label
Number of pulses per
rotation
Unit
Comma
nd unit/r
Structure VAR Type
UInt
32
Access RW Mapping RPDO Mode F Range
1~21474
83647
Defaul
t
10000
If 6092h-01(Feed constant) is not equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = Encoder resolution / 6092h-01
If 6092h-01(Feed constant) is equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = 6091-01 / 6092h-01
Index
6098h
Label Homing method Unit - Structure VAR Type UInt 8
Access RW Mapping RPDO Mode F Range
-6-3
7
Default 19
The table below describes the velocity, direction and stopping conditions of each homing methods.
Ref no. Description
Velocity Direction Stop
-6 Low Negative When torque reached
-5 Low Positive When torque reached
-4 High Negative Inversed when torque reached, after torque is gone
-3 High Positive Inversed when torque reached, after torque is gone
-2 High Negative Inversed when torque reached, received 1
st
Z-signal after torque
is gone